diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/CMakeLists.txt b/applications/collections/deprecated/modules/SofaGraphComponent/CMakeLists.txt
deleted file mode 100644
index 2bc029b92793..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/CMakeLists.txt
+++ /dev/null
@@ -1,47 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(SofaGraphComponent LANGUAGES CXX)
-
-sofa_find_package(SofaBase REQUIRED)
-
-set(SOFAGRAPHCOMPONENT_SRC "src/${PROJECT_NAME}")
-
-set(HEADER_FILES
- ${SOFAGRAPHCOMPONENT_SRC}/config.h.in
- ${SOFAGRAPHCOMPONENT_SRC}/initSofaGraphComponent.h
- )
-
-set(SOURCE_FILES
- ${SOFAGRAPHCOMPONENT_SRC}/initSofaGraphComponent.cpp
- )
-
-list(APPEND HEADER_FILES
- ${SOFAGRAPHCOMPONENT_SRC}/Gravity.h
- ${SOFAGRAPHCOMPONENT_SRC}/InteractingBehaviorModel.h
- )
-list(APPEND SOURCE_FILES
- ${SOFAGRAPHCOMPONENT_SRC}/Gravity.cpp
- )
-
-
-add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Helper Sofa.Simulation.Core SofaBaseUtils SofaBaseCollision)
-
-#message(WARNING "${PROJECT_NAME} module is deprecated. It will be removed at v23.06. Use Sofa.Component.SceneUtility, Sofa.Component.Setting,
-#Sofa.GUI.Component and the plugin SceneChecking instead.")
-
-# forward to the new sofang module
-sofa_find_package(Sofa.Component.SceneUtility REQUIRED)
-sofa_find_package(Sofa.Component.Setting REQUIRED)
-sofa_find_package(Sofa.GUI.Component REQUIRED)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.SceneUtility)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Setting)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.GUI.Component)
-
-sofa_create_package_with_targets(
- PACKAGE_NAME ${PROJECT_NAME}
- PACKAGE_VERSION ${Sofa_VERSION}
- TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
- INCLUDE_SOURCE_DIR "src"
- INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
- RELOCATABLE "collections"
-)
diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/README.md b/applications/collections/deprecated/modules/SofaGraphComponent/README.md
deleted file mode 100644
index aadb1e573da2..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/README.md
+++ /dev/null
@@ -1 +0,0 @@
-# SofaGraphComponent
\ No newline at end of file
diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/SofaGraphComponentConfig.cmake.in b/applications/collections/deprecated/modules/SofaGraphComponent/SofaGraphComponentConfig.cmake.in
deleted file mode 100644
index 318ba4b526f0..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/SofaGraphComponentConfig.cmake.in
+++ /dev/null
@@ -1,23 +0,0 @@
-# CMake package configuration file for @PROJECT_NAME@
-
-if(NOT "${CMAKE_PROJECT_NAME}" STREQUAL "Sofa" OR NOT "${PROJECT_SOURCE_DIR}" MATCHES "${CMAKE_SOURCE_DIR}/.*")
- # The project doing find_package is not a subproject of SOFA or is not located inside SOFA
- get_property(@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE GLOBAL PROPERTY PROPERTY_@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE SET)
- if(NOT @PROJECT_NAME@_SENT_DEPRECATION_MESSAGE)
- message(WARNING "@PROJECT_NAME@ module is deprecated. It will be removed at v23.06. Use Sofa.Component.SceneUtility, Sofa.Component.Setting and Sofa.GUI.Component instead.")
- endif()
- set_property(GLOBAL PROPERTY PROPERTY_@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE TRUE)
-endif()
-
-@PACKAGE_GUARD@
-@PACKAGE_INIT@
-
-find_package(SofaBase QUIET REQUIRED)
-find_package(Sofa.Component.SceneUtility QUIET REQUIRED)
-find_package(Sofa.Component.Setting QUIET REQUIRED)
-find_package(Sofa.GUI.Component QUIET REQUIRED)
-
-if(NOT TARGET @PROJECT_NAME@)
- include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
-endif()
-check_required_components(@PROJECT_NAME@)
diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/config.h.in b/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/config.h.in
deleted file mode 100644
index c1a5096dc718..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/config.h.in
+++ /dev/null
@@ -1,34 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#pragma once
-
-#include
-#include
-
-#define SOFAGRAPHCOMPONENT_VERSION @PROJECT_VERSION@
-
-#ifdef SOFA_BUILD_SOFAGRAPHCOMPONENT
-# define SOFA_TARGET @PROJECT_NAME@
-# define SOFA_SOFAGRAPHCOMPONENT_API SOFA_EXPORT_DYNAMIC_LIBRARY
-#else
-# define SOFA_SOFAGRAPHCOMPONENT_API SOFA_IMPORT_DYNAMIC_LIBRARY
-#endif
\ No newline at end of file
diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.cpp b/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.cpp
deleted file mode 100644
index 5f5903672bbe..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.cpp
+++ /dev/null
@@ -1,88 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#include
-
-#include
-
-#include
-using sofa::core::ObjectFactory;
-
-namespace sofa::component
-{
-
-void initSofaGraphComponent()
-{
- static bool first = true;
- if (first)
- {
- msg_deprecated("SofaGraphComponent") << "SofaGraphComponent is deprecated. It will be removed at v23.06. Use Sofa.Component.SceneUtility, Sofa.Component.Setting and Sofa.GUI.Component instead.";
-
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.SceneUtility");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Setting");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.GUI.Component");
-
- first = false;
- }
-}
-
-extern "C" {
- SOFA_SOFAGRAPHCOMPONENT_API void initExternalModule();
- SOFA_SOFAGRAPHCOMPONENT_API const char* getModuleName();
- SOFA_SOFAGRAPHCOMPONENT_API const char* getModuleVersion();
- SOFA_SOFAGRAPHCOMPONENT_API const char* getModuleLicense();
- SOFA_SOFAGRAPHCOMPONENT_API const char* getModuleDescription();
- SOFA_SOFAGRAPHCOMPONENT_API const char* getModuleComponentList();
-}
-
-void initExternalModule()
-{
- initSofaGraphComponent();
-}
-
-const char* getModuleName()
-{
- return sofa_tostring(SOFA_TARGET);
-}
-
-const char* getModuleVersion()
-{
- return sofa_tostring(SOFAGRAPHCOMPONENT_VERSION);
-}
-
-const char* getModuleLicense()
-{
- return "LGPL";
-}
-
-const char* getModuleDescription()
-{
- return "This plugin contains contains features about General Visual.";
-}
-
-const char* getModuleComponentList()
-{
- /// string containing the names of the classes provided by the plugin
- static std::string classes = ObjectFactory::getInstance()->listClassesFromTarget(sofa_tostring(SOFA_TARGET));
- return classes.c_str();
-}
-
-} // namespace sofa::component
diff --git a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.h b/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.h
deleted file mode 100644
index 5d6e90612937..000000000000
--- a/applications/collections/deprecated/modules/SofaGraphComponent/src/SofaGraphComponent/initSofaGraphComponent.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#pragma once
-
-#include
-
-namespace sofa::component
-{
-
-void SOFA_SOFAGRAPHCOMPONENT_API initSofaGraphComponent();
-
-} // namespace sofa::component
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/CMakeLists.txt b/applications/collections/deprecated/modules/SofaMiscCollision/CMakeLists.txt
deleted file mode 100644
index 1582a7214dc1..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/CMakeLists.txt
+++ /dev/null
@@ -1,72 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(SofaMiscCollision VERSION 1.0)
-
-sofa_find_package(SofaBaseCollision REQUIRED)
-sofa_find_package(SofaBaseMechanics REQUIRED)
-sofa_find_package(SofaBaseTopology REQUIRED)
-sofa_find_package(SofaGeneralMeshCollision REQUIRED)
-sofa_find_package(SofaGeneralDeformable REQUIRED)
-sofa_find_package(SofaConstraint REQUIRED)
-sofa_find_package(SofaExplicitOdeSolver REQUIRED)
-sofa_find_package(SofaGeneralExplicitOdeSolver REQUIRED)
-sofa_find_package(SofaImplicitOdeSolver REQUIRED)
-
-set(SOFAMISCCOLLISION_SRC src/SofaMiscCollision)
-
-set(HEADER_FILES
- ${SOFAMISCCOLLISION_SRC}/config.h.in
- ${SOFAMISCCOLLISION_SRC}/initSofaMiscCollision.h
- )
-
-set(SOURCE_FILES
- ${SOFAMISCCOLLISION_SRC}/initSofaMiscCollision.cpp
- )
-
-set(EXTRA_FILES
- ${SOFAMISCCOLLISION_SRC}/README.md
- )
-
-list(APPEND HEADER_FILES
- ${SOFAMISCCOLLISION_SRC}/DefaultCollisionGroupManager.h
- ${SOFAMISCCOLLISION_SRC}/RayTriangleVisitor.h
- ${SOFAMISCCOLLISION_SRC}/SolverMerger.h
-)
-
-list(APPEND SOURCE_FILES
-
- ${SOFAMISCCOLLISION_SRC}/DefaultCollisionGroupManager.cpp
- ${SOFAMISCCOLLISION_SRC}/RayTriangleVisitor.cpp
- ${SOFAMISCCOLLISION_SRC}/SolverMerger.cpp
-
-)
-
-add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${EXTRA_FILES})
-target_link_libraries(${PROJECT_NAME} PUBLIC SofaBaseTopology SofaGeneralMeshCollision SofaGeneralDeformable SofaConstraint SofaExplicitOdeSolver SofaGeneralExplicitOdeSolver SofaImplicitOdeSolver SofaBaseCollision SofaBaseMechanics)
-
-#message(WARNING "${PROJECT_NAME} module is deprecated. It will be removed at v23.06. Use Sofa.Component.Collision.Geometry, Sofa.Component.Collision.Detection.Intersection and Sofa.Component.Collision.Response.Contact instead.
-# Moreover, OBB and Capsule-related components have been moved into the external plugin CollisionOBBCapsule.")
-
-# forward to the new sofang module
-sofa_find_package(Sofa.Component.Collision.Geometry REQUIRED)
-sofa_find_package(Sofa.Component.Collision.Detection.Intersection REQUIRED)
-sofa_find_package(Sofa.Component.Collision.Response.Contact REQUIRED)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Collision.Geometry)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Collision.Detection.Intersection)
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Component.Collision.Response.Contact)
-
-sofa_create_package_with_targets(
- PACKAGE_NAME ${PROJECT_NAME}
- PACKAGE_VERSION ${PROJECT_VERSION}
- TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
- INCLUDE_SOURCE_DIR "src"
- INCLUDE_INSTALL_DIR ${PROJECT_NAME}
- RELOCATABLE "collections"
- )
-
-# Tests
-# If SOFA_BUILD_TESTS exists and is OFF, then these tests will be auto-disabled
-cmake_dependent_option(SOFAMISCCOLLISION_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF)
-if(SOFAMISCCOLLISION_BUILD_TESTS)
- enable_testing()
- add_subdirectory(SofaMiscCollision_test)
-endif()
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollisionConfig.cmake.in b/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollisionConfig.cmake.in
deleted file mode 100644
index 32e01b6511ee..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollisionConfig.cmake.in
+++ /dev/null
@@ -1,34 +0,0 @@
-# CMake package configuration file for @PROJECT_NAME@
-
-if(NOT "${CMAKE_PROJECT_NAME}" STREQUAL "Sofa" OR NOT "${PROJECT_SOURCE_DIR}" MATCHES "${CMAKE_SOURCE_DIR}/.*")
- # The project doing find_package is not a subproject of SOFA or is not located inside SOFA
- get_property(@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE GLOBAL PROPERTY PROPERTY_@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE SET)
- if(NOT @PROJECT_NAME@_SENT_DEPRECATION_MESSAGE)
- message(WARNING "@PROJECT_NAME@ module is deprecated. It will be removed at v23.06. Use Sofa.Component.Collision.Geometry, Sofa.Component.Collision.Detection.Intersection and Sofa.Component.Collision.Response.Contact instead. Moreover, OBB and Capsule-related components have been moved into the external plugin CollisionOBBCapsule.")
- endif()
- set_property(GLOBAL PROPERTY PROPERTY_@PROJECT_NAME@_SENT_DEPRECATION_MESSAGE TRUE)
-endif()
-
-@PACKAGE_GUARD@
-@PACKAGE_INIT@
-
-find_package(SofaBaseCollision QUIET REQUIRED)
-find_package(SofaBaseTopology QUIET REQUIRED)
-find_package(SofaGeneralMeshCollision QUIET REQUIRED)
-find_package(SofaGeneralDeformable QUIET REQUIRED)
-find_package(SofaConstraint QUIET REQUIRED)
-find_package(SofaExplicitOdeSolver QUIET REQUIRED)
-find_package(SofaGeneralExplicitOdeSolver QUIET REQUIRED)
-find_package(SofaImplicitOdeSolver QUIET REQUIRED)
-
-find_package(Sofa.Component.Collision.Geometry QUIET REQUIRED)
-find_package(Sofa.Component.Collision.Detection.Intersection QUIET REQUIRED)
-find_package(Sofa.Component.Collision.Response.Contact QUIET REQUIRED)
-
-if(NOT TARGET SofaMiscCollision)
- include("${CMAKE_CURRENT_LIST_DIR}/SofaMiscCollisionTargets.cmake")
-endif()
-
-check_required_components(SofaMiscCollision)
-set(SofaMiscCollision_LIBRARIES SOFAMISCCOLLISION)
-set(SofaMiscCollision_INCLUDE_DIRS @PACKAGE_SOFAMISCCOLLISION_INCLUDE_DIR@ ${SOFAMISCCOLLISION_INCLUDE_DIR})
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/CMakeLists.txt b/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/CMakeLists.txt
deleted file mode 100644
index bf64bbe493b2..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-cmake_minimum_required(VERSION 3.22)
-project(SofaMiscCollision_test)
-
-set(HEADER_FILES
-)
-
-set(SOURCE_FILES
- DefaultCollisionGroupManager_test.cpp
-)
-
-add_executable(${PROJECT_NAME} ${HEADER_FILES} ${SOURCE_FILES})
-add_definitions("-DSOFAMISCCOLLISION_TEST_SCENES_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/scenes\"")
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Testing Sofa.Component.Collision.Testing SofaMiscCollision
- SofaBase SofaGeneralDeformable SofaImplicitOdeSolver SofaTopologyMapping SofaLoader)
-
-add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME})
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/DefaultCollisionGroupManager_test.cpp b/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/DefaultCollisionGroupManager_test.cpp
deleted file mode 100644
index 8df65f4ce69a..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/DefaultCollisionGroupManager_test.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-
-#include
-
-#include
-using sofa::testing::BaseTest;
-
-#include
-using sofa::component::collision::DefaultCollisionGroupManager;
-
-#include
-
-#include
-#include
-
-namespace sofa
-{
-
-struct DefaultCollisionGroupManager_test : public BaseTest
-{
- void onSetUp() override;
- void onTearDown() override;
-
- bool combineSingleObject();
-
-private:
- /// Root of the scene graph
- simulation::Node::SPtr root { nullptr };
- /// Simulation
- simulation::Simulation* simulation { nullptr };
-};
-
-void DefaultCollisionGroupManager_test::onSetUp()
-{
- sofa::component::initSofaBase();
-
- static const std::string sceneFilename = std::string(SOFAMISCCOLLISION_TEST_SCENES_DIR)
- + "/DefaultCollisionGroupManager_singleObject_test.scn";
-
- // Init simulation
- simulation = sofa::simulation::getSimulation();
- root = sofa::simulation::node::load(sceneFilename.c_str());
-}
-
-void DefaultCollisionGroupManager_test::onTearDown()
-{
- if (root != nullptr)
- {
- sofa::simulation::node::unload(root);
- }
-}
-
-bool DefaultCollisionGroupManager_test::combineSingleObject()
-{
- EXPECT_TRUE(root != nullptr);
- EXPECT_TRUE(sofa::simulation::getSimulation() != nullptr);
-
- sofa::simulation::node::initRoot(root.get());
-
- // run 200 time steps
- // objectives:
- // 1) The simulation does not crash
- // 2) Collision prevents the cube to fall through the floor
- for (unsigned int i = 0; i < 200; ++i)
- {
- sofa::simulation::node::animate(root.get(), 0.01);
- }
-
- auto* baseObject = root->getTreeNode("Cube1")->getObject("mechanicalObject");
- EXPECT_NE(baseObject, nullptr);
-
- auto* mechanicalObject = dynamic_cast*>(baseObject);
- EXPECT_NE(mechanicalObject, nullptr);
-
- const auto position = mechanicalObject->readPositions();
- EXPECT_FALSE(position.empty());
-
- // Check that the position of the first DOF is not below the floor
- EXPECT_GT(position->front().y(), -15.);
-
- return true;
-}
-
-TEST_F(DefaultCollisionGroupManager_test, combine)
-{
- ASSERT_TRUE(combineSingleObject());
-}
-
-}
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/scenes/DefaultCollisionGroupManager_singleObject_test.scn b/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/scenes/DefaultCollisionGroupManager_singleObject_test.scn
deleted file mode 100644
index 93e9a1069b0c..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/SofaMiscCollision_test/scenes/DefaultCollisionGroupManager_singleObject_test.scn
+++ /dev/null
@@ -1,83 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsDynamicCollisionGroups.html b/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsDynamicCollisionGroups.html
deleted file mode 100644
index 63218b984171..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsDynamicCollisionGroups.html
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
-
-
-
-
-
-
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.png b/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.png
deleted file mode 100644
index 3b71316b9a1d..000000000000
Binary files a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.png and /dev/null differ
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.scn b/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.scn
deleted file mode 100644
index 4ca7f6dc08b7..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups.scn
+++ /dev/null
@@ -1,62 +0,0 @@
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diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups_init.png b/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups_init.png
deleted file mode 100644
index 3f69deafc307..000000000000
Binary files a/applications/collections/deprecated/modules/SofaMiscCollision/examples/MultipleObjectsStaticCollisionGroups_init.png and /dev/null differ
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/DefaultCollisionGroupManager.cpp b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/DefaultCollisionGroupManager.cpp
deleted file mode 100644
index 0e393f0821f2..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/DefaultCollisionGroupManager.cpp
+++ /dev/null
@@ -1,438 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#include
-#include
-#include
-#include
-#include
-#include
-
-namespace sofa::component::collision
-{
-
-using core::collision::Contact;
-using core::objectmodel::BaseNode;
-
-
-int DefaultCollisionGroupManagerClass = core::RegisterObject("Responsible for gathering colliding objects in the same group, for consistent time integration")
- .add< DefaultCollisionGroupManager >()
- .addAlias( "CollisionGroupManager" )
- .addAlias( "CollisionGroup" )
- .addAlias( "TreeCollisionGroupManager" ) // for backward compatibility with old scene files but could be removed
- ;
-
-DefaultCollisionGroupManager::DefaultCollisionGroupManager() = default;
-DefaultCollisionGroupManager::~DefaultCollisionGroupManager() = default;
-
-void DefaultCollisionGroupManager::clearCollisionGroup(simulation::Node::SPtr group)
-{
- const simulation::Node::Parents &parents = group->getParents();
- core::objectmodel::BaseNode::SPtr parent = *parents.begin();
- while (!group->child.empty())
- parent->moveChild(core::objectmodel::BaseNode::SPtr(group->child.begin()->get()->toBaseNode()));
-
- simulation::CleanupVisitor cleanupvis(sofa::core::execparams::defaultInstance());
- cleanupvis.execute(group.get());
- simulation::DeleteVisitor vis(sofa::core::execparams::defaultInstance());
- vis.execute(group.get());
- group->detachFromGraph();
- group.reset();
-}
-
-
-void DefaultCollisionGroupManager::changeInstance(Instance inst)
-{
- core::collision::CollisionGroupManager::changeInstance(inst);
- storedGroupSet[instance].swap(groupMap);
- groupMap.swap(storedGroupSet[inst]);
-}
-
-void DefaultCollisionGroupManager::createGroups(core::objectmodel::BaseContext* scene, const sofa::type::vector& contacts)
-{
- SCOPED_TIMER("CreateGroups");
-
- int groupIndex = 1;
-
- // Map storing group merging history
- // key: node which has been moved into the node in value
- // value: node which received the content of the node in key
- MergeGroupsMap mergedGroups;
-
- // list of nodes that must be removed due to a move from a node to another
- sofa::type::vector< simulation::Node::SPtr > removedGroup;
-
- sofa::type::vector< std::pair > contactGroup;
-
- //list of contacts considered stationary: one of the collision model has no associated ODE solver (= stationary)
- //for stationary contacts, no need to combine nodes into a single ODE solver
- sofa::type::vector< Contact* > stationaryContacts;
-
- for (const auto& contact : contacts)
- {
- createGroup(contact.get(), groupIndex, mergedGroups, contactGroup, removedGroup, stationaryContacts);
- }
-
- // create contact response for stationary contacts
- for (auto* contact : stationaryContacts)
- {
- contact->createResponse(scene);
- }
-
- // now that the groups are final, attach contacts' response
- // note: contact responses must be created in the same order than the contact list
- // This is to ensure the reproducibility of the simulation
- for (const auto& [contact, group] : contactGroup)
- {
- simulation::Node* g = getNodeFromMergedGroups(group.get(), mergedGroups);
- if (g != nullptr)
- {
- contact->createResponse(g);
- }
- else
- {
- contact->createResponse(scene);
- }
- }
-
- // delete removed groups
- for (auto& node : removedGroup)
- {
- node->detachFromGraph();
- node->execute(sofa::core::execparams::defaultInstance());
- node.reset();
- }
- removedGroup.clear();
-
- // finally recreate group vector
- groups.clear();
- for (auto& g : contactGroup)
- {
- if (g.second)
- {
- groups.push_back(g.second);
- }
- }
-}
-
-void DefaultCollisionGroupManager::createGroup(core::collision::Contact* contact,
- int& groupIndex,
- MergeGroupsMap& mergedGroups,
- sofa::type::vector< std::pair >& contactGroup,
- sofa::type::vector< simulation::Node::SPtr >& removedGroup,
- sofa::type::vector< core::collision::Contact* >& stationaryContacts)
-{
- const auto contactCollisionModels = contact->getCollisionModels();
- core::CollisionModel* cm_1 = contactCollisionModels.first;
- core::CollisionModel* cm_2 = contactCollisionModels.second;
-
- simulation::Node* group1 = getIntegrationNode(cm_1); //Node containing the ODE solver associated to cm_1
- simulation::Node* group2 = getIntegrationNode(cm_2); //Node containing the ODE solver associated to cm_1
-
- if (group1 == nullptr || group2 == nullptr)
- {
- // one of the object does not have an associated ODE solver
- // this can happen for stationary objects
- stationaryContacts.push_back(contact);
- return;
- }
-
- simulation::Node::SPtr collGroup = nullptr;
- if (group1 == group2)
- {
- // both collision models share the same group: no new group necessary
- collGroup = group1;
- }
- else if (simulation::Node* commonParent = group1->findCommonParent(group2))
- {
- const bool isSolverEmpty1 = group1->solver.empty();
- const bool isSolverEmpty2 = group2->solver.empty();
-
- // we can merge the groups
- // if solvers are compatible...
- const bool mergeSolvers = !isSolverEmpty1 && !isSolverEmpty2;
- SolverSet solver;
- if (mergeSolvers)
- {
- solver = SolverMerger::merge(*group1->solver.begin(), *group2->solver.begin());
- }
-
- if (!mergeSolvers || solver.odeSolver != nullptr)
- {
- auto group1Iter = groupMap.find(group1);
- auto group2Iter = groupMap.find(group2);
-
- const bool group1IsColl = group1Iter != groupMap.end();
- const bool group2IsColl = group2Iter != groupMap.end();
-
- if (!group1IsColl && !group2IsColl)
- {
- //none of the ODE solver nodes has been visited in the time step: create a new node
- const std::string childName { "collision" + std::to_string(groupIndex++) };
-
- collGroup = commonParent->createChild(childName);
-
- //move the first ODE solver node into the new node
- collGroup->moveChild(BaseNode::SPtr(group1));
-
- //move the second ODE solver node into the new node
- collGroup->moveChild(BaseNode::SPtr(group2));
-
- groupMap[group1] = collGroup.get();
- groupMap[group2] = collGroup.get();
- groupMap[collGroup.get()] = collGroup.get();
- }
- else if (group1IsColl) //the first ODE solver node has been visited during this time step
- {
- collGroup = getNodeFromMergedGroups(group1Iter->second, mergedGroups);
-
- // merge group2 in group1
- if (!group2IsColl) //the second ODE solver node has NOT been visited during this time step
- {
- //second ODE solver node is moved into the first ODE solver node
- collGroup->moveChild(BaseNode::SPtr(group2));
- groupMap[group2] = collGroup.get();
- }
- else //the second ODE solver node has been visited during this time step
- {
- simulation::Node::SPtr collGroup2 = getNodeFromMergedGroups(group2Iter->second, mergedGroups);
- if (collGroup == collGroup2)
- {
- // both ODE solver nodes are already in the same collision group
- groupMap[group1Iter->first] = collGroup.get();
- groupMap[group2Iter->first] = collGroup.get();
- contactGroup.emplace_back(contact, collGroup);
- return;
- }
- else
- {
- //both ODE solver nodes have been visited, but they are not in the same node
- //move the second node into the first
- //solvers of the second node are deleted
-
- groupMap[group2] = collGroup.get();
- // merge groups and remove collGroup2
-
- // store solvers of the second group and destroy them later
- SolverSet tmpSolverSet;
- if (mergeSolvers)
- {
- getSolverSet(collGroup2, tmpSolverSet);
-
- //remove solvers from group2, so it is not moved later with the rest of the objects
- removeSolverSetFromNode(collGroup2, tmpSolverSet);
- }
- //move all objects from group 2 to group 1
- moveAllObjects(collGroup2, collGroup);
- moveAllChildren(collGroup2, collGroup);
-
- //group2 is empty: remove the node
- commonParent->removeChild(collGroup2);
-
- //group is added to a list of groups that will be destroyed later
- removedGroup.push_back(collGroup2);
- groupMap.erase(collGroup2.get());
-
- //stores that group2 has been merged into group1
- mergedGroups[collGroup2.get()] = collGroup.get();
-
- //solvers object can be safely destroyed
- destroySolvers(tmpSolverSet);
- }
- }
- }
- else //only the second ODE solver node has been visited during this time step
- {
- collGroup = getNodeFromMergedGroups(group2Iter->second, mergedGroups);
- // group1 is not a collision group while group2 is
- collGroup->moveChild(BaseNode::SPtr(group1));
- groupMap[group1] = collGroup.get();
- }
-
- SolverSet tmpSolverSet;
- getSolverSet(collGroup, tmpSolverSet);
- removeSolverSetFromNode(collGroup, tmpSolverSet);
-
- addSolversToNode(collGroup, solver);
- }
- }
- contactGroup.emplace_back(contact, collGroup);
-}
-
-
-void DefaultCollisionGroupManager::clearGroups(core::objectmodel::BaseContext* /*scene*/)
-{
- for (const auto& nodePair : groupMap)
- {
- if (nodePair.second != nullptr && !nodePair.second->getParents().empty())
- {
- clearCollisionGroup(nodePair.second);
- }
- }
-
- groupMap.clear();
- groups.clear();
-}
-
-
-simulation::Node* DefaultCollisionGroupManager::getIntegrationNode(core::CollisionModel* model)
-{
- simulation::Node* node = static_cast(model->getContext());
- type::vector< core::behavior::OdeSolver *> listSolver;
- node->get< core::behavior::OdeSolver >(&listSolver);
-
- if (listSolver.empty())
- return nullptr;
-
- simulation::Node* solvernode = static_cast(listSolver.back()->getContext());
- return solvernode;
-}
-
-void DefaultCollisionGroupManager::moveAllObjects(simulation::Node::SPtr sourceNode, simulation::Node::SPtr destinationNode)
-{
- while(!sourceNode->object.empty())
- {
- destinationNode->moveObject(*sourceNode->object.begin());
- }
-}
-
-void DefaultCollisionGroupManager::moveAllChildren(simulation::Node::SPtr sourceNode, simulation::Node::SPtr destinationNode)
-{
- while(!sourceNode->child.empty())
- {
- destinationNode->moveChild(*sourceNode->child.begin());
- }
-}
-
-void DefaultCollisionGroupManager::getSolverSet(simulation::Node::SPtr node, SolverSet& solverSet)
-{
- if (!node->linearSolver.empty())
- {
- solverSet.odeSolver = *node->solver.begin();
- }
-
- if (!node->linearSolver.empty())
- {
- solverSet.linearSolver = *node->linearSolver.begin();
- }
-
- if (!node->constraintSolver.empty())
- {
- solverSet.constraintSolver = *node->constraintSolver.begin();
- }
-}
-
-void DefaultCollisionGroupManager::removeSolverSetFromNode(simulation::Node::SPtr node, sofa::component::collision::SolverSet& solverSet)
-{
- if (solverSet.odeSolver)
- {
- node->removeObject(solverSet.odeSolver);
- }
- if (solverSet.linearSolver)
- {
- node->removeObject(solverSet.linearSolver);
- }
- if (solverSet.constraintSolver)
- {
- node->removeObject(solverSet.constraintSolver);
- }
-}
-
-void DefaultCollisionGroupManager::destroySolvers(sofa::component::collision::SolverSet& solverSet)
-{
- if (solverSet.odeSolver != nullptr)
- {
- solverSet.odeSolver.reset();
- }
- if (solverSet.linearSolver != nullptr)
- {
- solverSet.linearSolver.reset();
- }
- if (solverSet.constraintSolver != nullptr)
- {
- solverSet.constraintSolver.reset();
- }
-}
-
-void DefaultCollisionGroupManager::addSolversToNode(simulation::Node::SPtr node, sofa::component::collision::SolverSet& solverSet)
-{
- if (solverSet.odeSolver)
- {
- node->addObject(solverSet.odeSolver);
- }
- if (solverSet.linearSolver)
- {
- node->addObject(solverSet.linearSolver);
- }
- if (solverSet.constraintSolver)
- {
- node->addObject(solverSet.constraintSolver);
- }
- // perform init only once everyone has been added (in case of explicit dependencies)
- if (solverSet.odeSolver)
- {
- solverSet.odeSolver->init();
- }
- if (solverSet.linearSolver)
- {
- solverSet.linearSolver->init();
- }
- if (solverSet.constraintSolver)
- {
- solverSet.constraintSolver->init();
- }
-}
-
-simulation::Node* DefaultCollisionGroupManager::getNodeFromMergedGroups(simulation::Node* node, const MergeGroupsMap& mergedGroups)
-{
- if (node != nullptr)
- {
- simulation::Node* nodeBegin = node;
- auto it = mergedGroups.find(node);
-
- //the group associated to a contact may have been moved to another group
- while (it != mergedGroups.cend() && it->second != nullptr)
- {
- node = it->second;
- checkEndlessLoop(mergedGroups, nodeBegin, node);
- it = mergedGroups.find(node);
- }
- }
- return node;
-}
-
-void DefaultCollisionGroupManager::checkEndlessLoop(const MergeGroupsMap& mergedGroups, simulation::Node* firstGroup, simulation::Node* currentGroup)
-{
- if (currentGroup == firstGroup)
- {
- std::stringstream msg;
- msg << "A logic problem (endless loop) has been detected. Please report a bug on https://github.com/sofa-framework/sofa/issues. Details:\n";
- for (const auto& [a, b] : mergedGroups)
- {
- msg << a << "(" << (a ? a->getPathName() : "invalid") << ") " << b << "(" << (b ? b->getPathName() : "invalid") << "), ";
- }
-
- msg_fatal() << msg.str();
- throw std::logic_error(msg.str());
- }
-}
-
-} // namespace sofa::component::collision
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/README.md b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/README.md
deleted file mode 100644
index e69de29bb2d1..000000000000
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/RayTriangleVisitor.cpp b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/RayTriangleVisitor.cpp
deleted file mode 100644
index 189cfa77af67..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/RayTriangleVisitor.cpp
+++ /dev/null
@@ -1,198 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-
-#include "RayTriangleVisitor.h"
-#include
-#include
-#include
-#include
-
-namespace sofa
-{
-
-using core::objectmodel::BaseObject;
-
-namespace component{
-namespace collision {
-
-
-RayTriangleVisitor::RayTriangleVisitor(const core::ExecParams* params):simulation::Visitor(params)
-{}
-
-struct distanceHitSort{
- bool operator() (const RayTriangleVisitor::Hit& h1, const RayTriangleVisitor::Hit& h2){
- return h1.distance < h2.distance;
- }
-};
-
-core::objectmodel::BaseObject* RayTriangleVisitor::embeddingModel()
-{
- std::sort(hits.begin(),hits.end(),distanceHitSort());
- //================================================================
- // Version 2: we assume that objects are not nested, there can be intersections
- // We look for the first exit from an object not previously entered in
- std::set entered;
- for( std::size_t i= 0; i* tm)
-{
- typedef geometry::TriangleCollisionModel::DataTypes DataTypes;
-
- const DataTypes::VecCoord& x = tm->getMechanicalState()->read(sofa::core::ConstVecCoordId::position())->getValue();
- for( core::topology::BaseMeshTopology::SeqTriangles::const_iterator it=tm->getTriangles().begin(), iend=tm->getTriangles().end() ; it!=iend; it++)
- {
- const Vec3& v0 = x[(*it)[0]];
- const Vec3& v1 = x[(*it)[1]];
- const Vec3& v2 = x[(*it)[2]];
-
- // ray-triangle intersection adapted from http://www.scratchapixel.com/lessons/3d-basic-lessons/lesson-9-ray-triangle-intersection/ray-triangle-intersection-geometric-solution/
- Vec3 e01 = v1-v0;
- Vec3 e02 = v2-v0;
- Vec3 N = e01.cross(e02);
-
- // find intersection point
- SReal NdotRayDir = N*direction;
- SReal eps = std::numeric_limits::epsilon() * 100;
- if( fabs(NdotRayDir)0 ) continue; // point on the left side of the edge
-
- Hit hit;
- hit.hitObject = tm;
- hit.distance = (P-origin).norm();
- hit.internal = (N*direction)<0;
- hits.push_back( hit );
- }
-}
-
-void RayTriangleVisitor::processVisualModel(simulation::Node* /*node*/, component::visual::VisualModelImpl* om)
-{
- typedef component::visual::VisualModelImpl::DataTypes DataTypes;
-
- const DataTypes::VecCoord& x = om->getVertices();
- for( std::size_t i=0; igetTriangles().size(); i++ )
- {
- const Vec3& v0 = x[om->getTriangles()[i][0]];
- const Vec3& v1 = x[om->getTriangles()[i][1]];
- const Vec3& v2 = x[om->getTriangles()[i][2]];
-
- // ray-triangle intersection adapted from http://www.scratchapixel.com/lessons/3d-basic-lessons/lesson-9-ray-triangle-intersection/ray-triangle-intersection-geometric-solution/
- Vec3 e01 = v1-v0;
- Vec3 e02 = v2-v0;
- Vec3 N = e01.cross(e02);
-
- // find intersection point
- SReal NdotRayDir = N*direction;
- SReal eps = std::numeric_limits::epsilon() * 100;
- if( fabs(NdotRayDir)0 ) continue; // point on the left side of the edge
-
- Hit hit;
- hit.hitObject = om;
- hit.distance = (P-origin).norm();
- hit.internal = (N*direction)<0;
- hits.push_back( hit );
-
- }
-}
-
-simulation::Visitor::Result RayTriangleVisitor::processNodeTopDown(simulation::Node* node)
-{
- using core::visual::VisualModel;
- using component::visual::VisualModelImpl;
- typedef simulation::Node::Sequence CollisionModels;
- typedef simulation::Node::Sequence VisualModels;
- typedef component::collision::geometry::TriangleCollisionModel TriangleModel;
-
- for( CollisionModels::const_iterator it=node->collisionModel.begin(), iend=node->collisionModel.end(); it!=iend; it++ )
- {
- if( TriangleModel* tmodel = dynamic_cast(*it) ) {
- processTriangleModel(node,tmodel);
- }
- }
- for( VisualModels::const_iterator it=node->visualModel.begin(), iend=node->visualModel.end(); it!=iend; it++ )
- {
- if( VisualModelImpl* tmodel = dynamic_cast(*it) ) {
- processVisualModel(node,tmodel);
- }
- }
-
- return Visitor::RESULT_CONTINUE;
-}
-
-
-}
-}
-} // namespace sofa
-
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/SolverMerger.cpp b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/SolverMerger.cpp
deleted file mode 100644
index ca8c5f801100..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/SolverMerger.cpp
+++ /dev/null
@@ -1,234 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#include
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-#include
-#include
-
-namespace sofa::component::collision
-{
-using sofa::core::behavior::OdeSolver;
-using sofa::core::behavior::BaseLinearSolver;
-using sofa::core::behavior::ConstraintSolver;
-
-SolverSet::SolverSet(core::behavior::OdeSolver::SPtr o,
- core::behavior::BaseLinearSolver::SPtr l,
- core::behavior::ConstraintSolver::SPtr c) :
- odeSolver(o),linearSolver(l),constraintSolver(c)
-{}
-
-namespace solvermergers
-{
-
-/// Create a new object which type is the template parameter, and
-/// copy all its data fields values.
-/// This function is meant to be used for ODE solvers and constraint solvers
-template
-typename SolverType::SPtr copySolver(const SolverType& s)
-{
- const SolverType* src = &s;
- typename SolverType::SPtr res = sofa::core::objectmodel::New();
- for (auto* dataField : src->getDataFields())
- {
- msg_error_when(dataField == nullptr, "SolverMerger::copySolver") << "Found nullptr data field from " << src->getName();
- if (auto* d = res->findData(dataField->getName()))
- d->copyValueFrom(dataField);
- }
- return res;
-}
-
-ConstraintSolver::SPtr createConstraintSolver(OdeSolver* solver1, OdeSolver* solver2)
-{
- ConstraintSolver* csolver1 = nullptr;
- if (solver1!=nullptr)
- {
- solver1->getContext()->get(csolver1, core::objectmodel::BaseContext::SearchDown);
- }
-
- ConstraintSolver* csolver2 = nullptr;
- if (solver2!=nullptr)
- {
- solver2->getContext()->get(csolver2, core::objectmodel::BaseContext::SearchDown);
- }
-
- if (!csolver1 && !csolver2)
- {
- //no constraint solver associated to any ODE solver
- return nullptr;
- }
- if (!csolver1)
- {
- //first ODE solver does not have any constraint solver. The second is copied to be shared with the first
- if (auto* cs=dynamic_cast(csolver2))
- return copySolver(*cs);
- }
- else if (!csolver2)
- {
- //second ODE solver does not have any constraint solver. The first is copied to be shared with the second
- if (auto* cs=dynamic_cast(csolver1))
- return copySolver(*cs);
- }
- else
- {
- //both ODE solvers have an associated constraint solver
- if (auto* lcp1 = dynamic_cast(csolver1))
- if (auto* lcp2 = dynamic_cast(csolver2))
- {
- constraint::lagrangian::solver::LCPConstraintSolver::SPtr newSolver = sofa::core::objectmodel::New();
- newSolver->d_initial_guess.setValue(lcp1->d_initial_guess.getValue() | lcp2->d_initial_guess.getValue());
- newSolver->d_build_lcp.setValue(lcp1->d_build_lcp.getValue() | lcp2->d_build_lcp.getValue());
- newSolver->d_tol.setValue(lcp1->d_tol.getValue() < lcp2->d_tol.getValue() ? lcp1->d_tol.getValue() : lcp2->d_tol.getValue() );
- newSolver->d_maxIt.setValue(lcp1->d_maxIt.getValue() > lcp2->d_maxIt.getValue() ? lcp1->d_maxIt.getValue() : lcp2->d_maxIt.getValue() );
- newSolver->d_mu.setValue((lcp1->d_mu.getValue() + lcp2->d_mu.getValue()) * 0.5);
- return newSolver;
- }
- }
-
- return nullptr;
-}
-
-
-// First the easy cases...
-
-SolverSet createSolverEulerExplicitEulerExplicit(odesolver::forward::EulerExplicitSolver& solver1, odesolver::forward::EulerExplicitSolver& solver2)
-{
- return SolverSet(copySolver(solver1), nullptr,createConstraintSolver(&solver1, &solver2));
-}
-
-SolverSet createSolverRungeKutta4RungeKutta4(odesolver::forward::RungeKutta4Solver& solver1, odesolver::forward::RungeKutta4Solver& solver2)
-{
- return SolverSet(copySolver(solver1), nullptr,createConstraintSolver(&solver1, &solver2));
-}
-
-typedef linearsolver::iterative::CGLinearSolver DefaultCGLinearSolver;
-
-BaseLinearSolver::SPtr createLinearSolver(OdeSolver* solver1, OdeSolver* solver2)
-{
- DefaultCGLinearSolver::SPtr lsolver = sofa::core::objectmodel::New();
-
- DefaultCGLinearSolver* lsolver1 = nullptr;
- if (solver1!=nullptr)
- {
- solver1->getContext()->get(lsolver1, core::objectmodel::BaseContext::SearchDown);
- }
-
- DefaultCGLinearSolver* lsolver2 = nullptr;
- if (solver2!=nullptr)
- {
- solver2->getContext()->get(lsolver2, core::objectmodel::BaseContext::SearchDown);
- }
-
- unsigned int maxIter = 0;
- double tolerance = 1.0e10;
- double smallDenominatorThreshold = 1.0e10;
- if (lsolver1)
- {
- if (lsolver1->d_maxIter.getValue() > maxIter) maxIter = lsolver1->d_maxIter.getValue();
- if (lsolver1->d_tolerance.getValue() < tolerance) tolerance = lsolver1->d_tolerance.getValue();
- if (lsolver1->d_smallDenominatorThreshold.getValue() < smallDenominatorThreshold) smallDenominatorThreshold = lsolver1->d_smallDenominatorThreshold.getValue();
- }
- if (lsolver2)
- {
- if (lsolver2->d_maxIter.getValue() > maxIter) maxIter = lsolver2->d_maxIter.getValue();
- if (lsolver2->d_tolerance.getValue() < tolerance) tolerance = lsolver2->d_tolerance.getValue();
- if (lsolver2->d_smallDenominatorThreshold.getValue() < smallDenominatorThreshold) smallDenominatorThreshold = lsolver2->d_smallDenominatorThreshold.getValue();
- }
- lsolver->d_maxIter.setValue( maxIter );
- lsolver->d_tolerance.setValue( tolerance );
- lsolver->d_smallDenominatorThreshold.setValue( smallDenominatorThreshold );
- return lsolver;
-}
-
-SolverSet createSolverEulerImplicitEulerImplicit(odesolver::backward::EulerImplicitSolver& solver1, odesolver::backward::EulerImplicitSolver& solver2)
-{
- odesolver::backward::EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New();
- solver->d_rayleighStiffness.setValue(solver1.d_rayleighStiffness.getValue() < solver2.d_rayleighStiffness.getValue() ? solver1.d_rayleighStiffness.getValue() : solver2.d_rayleighStiffness.getValue() );
- solver->d_rayleighMass.setValue(solver1.d_rayleighMass.getValue() < solver2.d_rayleighMass.getValue() ? solver1.d_rayleighMass.getValue() : solver2.d_rayleighMass.getValue() );
- solver->d_velocityDamping.setValue(solver1.d_velocityDamping.getValue() > solver2.d_velocityDamping.getValue() ? solver1.d_velocityDamping.getValue() : solver2.d_velocityDamping.getValue());
- return SolverSet(solver,
- createLinearSolver(&solver1, &solver2),
- createConstraintSolver(&solver1, &solver2));
-}
-
-SolverSet createSolverStaticSolver(odesolver::backward::StaticSolver& solver1, odesolver::backward::StaticSolver& solver2)
-{
- return SolverSet(copySolver(solver1),
- createLinearSolver(&solver1, &solver2),
- createConstraintSolver(&solver1, &solver2));
-}
-
-// Then the other, with the policy of taking the more precise solver
-
-SolverSet createSolverRungeKutta4Euler(odesolver::forward::RungeKutta4Solver& solver1, odesolver::forward::EulerExplicitSolver& solver2)
-{
- return SolverSet(copySolver(solver1), nullptr,createConstraintSolver(&solver1, &solver2));
-}
-
-SolverSet createSolverEulerImplicitEuler(odesolver::backward::EulerImplicitSolver& solver1, odesolver::forward::EulerExplicitSolver& solver2)
-{
- return SolverSet(copySolver(solver1),
- createLinearSolver(&solver1, nullptr),
- createConstraintSolver(&solver1, &solver2));
-}
-
-SolverSet createSolverEulerImplicitRungeKutta4(odesolver::backward::EulerImplicitSolver& solver1, odesolver::forward::RungeKutta4Solver& solver2)
-{
- return SolverSet(copySolver(solver1),
- createLinearSolver(&solver1, nullptr),
- createConstraintSolver(&solver1, &solver2));
-}
-
-}// namespace SolverMergers
-
-using namespace solvermergers;
-
-
-SolverMerger* SolverMerger::getInstance()
-{
- static SolverMerger instance;
- return &instance;
-}
-
-SolverSet SolverMerger::merge(core::behavior::OdeSolver* solver1, core::behavior::OdeSolver* solver2)
-{
- return getInstance()->solverDispatcher.go(*solver1, *solver2);
-}
-
-SolverMerger::SolverMerger()
-{
- solverDispatcher.add();
- solverDispatcher.add();
- solverDispatcher.add();
- solverDispatcher.add();
- solverDispatcher.add();
- solverDispatcher.add();
- solverDispatcher.add();
-}
-
-} // namespace sofa::component::collision
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/config.h.in b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/config.h.in
deleted file mode 100644
index a72e67e66125..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/config.h.in
+++ /dev/null
@@ -1,37 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#ifndef SOFAMISCCOLLISION_CONFIG_H
-#define SOFAMISCCOLLISION_CONFIG_H
-
-#include
-
-#cmakedefine01 SOFAMISCCOLLISION_HAVE_SOFASPHFLUID
-#cmakedefine01 SOFAMISCCOLLISION_HAVE_SOFADISTANCEGRID
-
-#ifdef SOFA_BUILD_MISC_COLLISION
-# define SOFA_TARGET SofaMiscCollision
-# define SOFA_MISC_COLLISION_API SOFA_EXPORT_DYNAMIC_LIBRARY
-#else
-# define SOFA_MISC_COLLISION_API SOFA_IMPORT_DYNAMIC_LIBRARY
-#endif
-
-#endif
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.cpp b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.cpp
deleted file mode 100644
index 7a7636d55ba5..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#include
-
-#include
-#include
-
-namespace sofa
-{
-
-namespace component
-{
-
-void initSofaMiscCollision()
-{
- static bool first = true;
- if (first)
- {
- msg_deprecated("SofaMiscCollision") << "SofaMiscCollision is deprecated. It will be removed at v23.06. Use Sofa.Component.Collision.Geometry, Sofa.Component.Collision.Detection.Intersection and Sofa.Component.Collision.Response.Contact instead.";
- msg_deprecated("SofaMiscCollision") << "If you are looking for OBB and Capsule-related components, please use the external plugin CollisionOBBCapsule.";
-
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Geometry");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Detection.Intersection");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Response.Contact");
-
- first = false;
- }
-}
-
-extern "C" {
-SOFA_MISC_COLLISION_API void initExternalModule();
-SOFA_MISC_COLLISION_API const char* getModuleName();
-SOFA_MISC_COLLISION_API const char* getModuleVersion();
-SOFA_MISC_COLLISION_API const char* getModuleLicense();
-SOFA_MISC_COLLISION_API const char* getModuleDescription();
-SOFA_MISC_COLLISION_API const char* getModuleComponentList();
-}
-
-void initExternalModule()
-{
- initSofaMiscCollision();
-}
-
-const char* getModuleName()
-{
- return "SofaMiscCollision";
-}
-
-const char* getModuleVersion()
-{
- return "1.0";
-}
-
-const char* getModuleLicense()
-{
- return "LGPL";
-}
-
-const char* getModuleDescription()
-{
- return "This plugin contains collision components.";
-}
-
-const char* getModuleComponentList()
-{
- return "DistanceGridCollisionModel FFDDistanceGridDiscreteIntersection RayDistanceGridContact "
- "RigidDistanceGridDiscreteIntersection DistanceGridForceField";
-}
-
-} // component
-
-} // sofa
diff --git a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.h b/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.h
deleted file mode 100644
index c96d41f9b15e..000000000000
--- a/applications/collections/deprecated/modules/SofaMiscCollision/src/SofaMiscCollision/initSofaMiscCollision.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#ifndef SOFA_COMPONENT_MISC_COLLISION_INIT_H
-#define SOFA_COMPONENT_MISC_COLLISION_INIT_H
-#include
-
-namespace sofa
-{
-
-namespace component
-{
-
-SOFA_MISC_COLLISION_API void initSofaMiscCollision();
-
-} // namespace component
-
-} // namespace sofa
-
-#endif
-
diff --git a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/config.h.in b/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/config.h.in
deleted file mode 100644
index 312c0e7ad037..000000000000
--- a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/config.h.in
+++ /dev/null
@@ -1,34 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#pragma once
-
-#include
-#include
-
-#define SOFAUSERINTERACTION_VERSION @PROJECT_VERSION@
-
-#ifdef SOFA_BUILD_SOFAUSERINTERACTION
-# define SOFA_TARGET @PROJECT_NAME@
-# define SOFA_SOFAUSERINTERACTION_API SOFA_EXPORT_DYNAMIC_LIBRARY
-#else
-# define SOFA_SOFAUSERINTERACTION_API SOFA_IMPORT_DYNAMIC_LIBRARY
-#endif
diff --git a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.cpp b/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.cpp
deleted file mode 100644
index df6817442c88..000000000000
--- a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.cpp
+++ /dev/null
@@ -1,91 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#include
-
-#include
-
-#include
-using sofa::core::ObjectFactory;
-
-namespace sofa::component
-{
-
-void initSofaUserInteraction()
-{
- static bool first = true;
- if (first)
- {
- msg_deprecated("SofaUserInteraction") << "SofaUserInteraction is being deprecated;. It will be removed at v23.06. You may use Sofa.Component.Collision.Geometry, Sofa.Component.Collision.Detection.Algorithm, Sofa.Component.Collision.Detection.Intersection. Sofa.Component.Collision.Response.Contact, Sofa.Component.Controller and Sofa.GUI.Component instead.";
-
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Geometry");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Detection.Algorithm");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Detection.Intersection");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Collision.Response.Contact");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.Component.Controller");
- sofa::helper::system::PluginManager::getInstance().loadPlugin("Sofa.GUI.Component");
-
- first = false;
- }
-}
-
-extern "C" {
- SOFA_SOFAUSERINTERACTION_API void initExternalModule();
- SOFA_SOFAUSERINTERACTION_API const char* getModuleName();
- SOFA_SOFAUSERINTERACTION_API const char* getModuleVersion();
- SOFA_SOFAUSERINTERACTION_API const char* getModuleLicense();
- SOFA_SOFAUSERINTERACTION_API const char* getModuleDescription();
- SOFA_SOFAUSERINTERACTION_API const char* getModuleComponentList();
-}
-
-void initExternalModule()
-{
- initSofaUserInteraction();
-}
-
-const char* getModuleName()
-{
- return sofa_tostring(SOFA_TARGET);
-}
-
-const char* getModuleVersion()
-{
- return sofa_tostring(SOFAUSERINTERACTION_VERSION);
-}
-
-const char* getModuleLicense()
-{
- return "LGPL";
-}
-
-const char* getModuleDescription()
-{
- return "This plugin contains contains features about User Interaction.";
-}
-
-const char* getModuleComponentList()
-{
- /// string containing the names of the classes provided by the plugin
- static std::string classes = ObjectFactory::getInstance()->listClassesFromTarget(sofa_tostring(SOFA_TARGET));
- return classes.c_str();
-}
-
-} // namespace sofa::component
diff --git a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.h b/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.h
deleted file mode 100644
index ad9bed4a373e..000000000000
--- a/applications/collections/deprecated/modules/SofaUserInteraction/src/SofaUserInteraction/initSofaUserInteraction.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/******************************************************************************
-* SOFA, Simulation Open-Framework Architecture *
-* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
-* *
-* This program is free software; you can redistribute it and/or modify it *
-* under the terms of the GNU Lesser General Public License as published by *
-* the Free Software Foundation; either version 2.1 of the License, or (at *
-* your option) any later version. *
-* *
-* This program is distributed in the hope that it will be useful, but WITHOUT *
-* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
-* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
-* for more details. *
-* *
-* You should have received a copy of the GNU Lesser General Public License *
-* along with this program. If not, see . *
-*******************************************************************************
-* Authors: The SOFA Team and external contributors (see Authors.txt) *
-* *
-* Contact information: contact@sofa-framework.org *
-******************************************************************************/
-#pragma once
-#include
-
-namespace sofa::component
-{
-
-SOFA_SOFAUSERINTERACTION_API void initSofaUserInteraction();
-
-} //namespace sofa::component
