[cmake] Propagate cmake changes from CollisionAlgorithm to this repository

.github/workflows/ci.yml

@@ -39,7 +39,7 @@ jobs:
                   -GNinja \
                   -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
                   -DCMAKE_BUILD_TYPE=Release \
-                  -DCMAKE_INSTALL_PREFIX="$GITHUB_WORKSPACE/install/CollisionAlgorithm" \
+                  -DCMAKE_INSTALL_PREFIX=%GITHUB_WORKSPACE%/deps/CollisionAlgorithm/install \
                   .. \
               && ninja install"
           else
@@ -48,22 +48,10 @@ jobs:
               -GNinja \
               -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
               -DCMAKE_BUILD_TYPE=Release \
-              -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/install/CollisionAlgorithm \
+              -DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install \
               ..
             ninja install
           fi
-          # Move the CollisionAlgorithm installation to match ConstraintGeometry CMake
-          SRC_PATH="$GITHUB_WORKSPACE/install/CollisionAlgorithm/include/include/CollisionAlgorithm/CollisionAlgorithm/src"
-          DEST_PATH="$GITHUB_WORKSPACE/install/CollisionAlgorithm/include/CollisionAlgorithm"
-          # If Windows, convert paths 
-          if [[ "$RUNNER_OS" == "Windows" ]]; then
-            SRC_PATH=$(cygpath -u "$SRC_PATH")
-            DEST_PATH=$(cygpath -u "$DEST_PATH")
-          fi
-          # Flatten install structure
-          mkdir -p "$DEST_PATH"
-          mv "$SRC_PATH"/* "$DEST_PATH"/
-          rm -rf "$GITHUB_WORKSPACE/install/CollisionAlgorithm/include/include"
 
       - name: Checkout source code
         uses: actions/checkout@v2
@@ -79,7 +67,7 @@ jobs:
               && cd /d %GITHUB_WORKSPACE%/build \
               && cmake \
                   -GNinja \
-                  -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake;%GITHUB_WORKSPACE%/install/CollisionAlgorithm \
+                  -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake;%GITHUB_WORKSPACE%/deps/CollisionAlgorithm/install/lib/cmake \
                   -DCMAKE_BUILD_TYPE=Release \
                   -DCMAKE_INSTALL_PREFIX=%GITHUB_WORKSPACE%/install \
                   ../src \
@@ -91,7 +79,7 @@ jobs:
               -GNinja \
               -DCMAKE_C_COMPILER_LAUNCHER=ccache \
               -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
-              -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake;$GITHUB_WORKSPACE/install/CollisionAlgorithm" \
+              -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake;$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install/lib/cmake" \
               -DCMAKE_BUILD_TYPE=Release \
               -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
               ../src

CMakeLists.txt

@@ -1,55 +1,82 @@
 cmake_minimum_required(VERSION 3.12)
 project(ConstraintGeometry VERSION 0.1 LANGUAGES CXX)
 
-set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+find_package(CollisionAlgorithm REQUIRED)
+find_package(Sofa.Component.StateContainer REQUIRED)
+find_package(Sofa.Component.Constraint.Lagrangian.Solver REQUIRED)
+find_package(Sofa.GL REQUIRED)
 
-file(GLOB_RECURSE HEADER_FILES
-    "src/*.h"
-    "src/*.inl"
-)
+set(CONSTRAINTGEOMETRY_SRC "src/${PROJECT_NAME}")
 
-file(GLOB_RECURSE SOURCE_FILES
-    "src/*.cpp"
-)
+set(HEADER_FILES
+    ${CONSTRAINTGEOMETRY_SRC}/config.h.in
+    ${CONSTRAINTGEOMETRY_SRC}/initConstraintGeometry.h
 
-file(GLOB_RECURSE SCENES_FILES
-    "scenes/*.scn"
-    "*.xml"
-)
+    ${CONSTRAINTGEOMETRY_SRC}/BaseConstraint.h
+    ${CONSTRAINTGEOMETRY_SRC}/BaseNormalHandler.h
+    ${CONSTRAINTGEOMETRY_SRC}/ConstraintDirection.h
+    ${CONSTRAINTGEOMETRY_SRC}/ConstraintNormal.h
+    ${CONSTRAINTGEOMETRY_SRC}/ConstraintProximity.h
+    ${CONSTRAINTGEOMETRY_SRC}/ConstraintResponse.h
+    ${CONSTRAINTGEOMETRY_SRC}/InternalConstraint.h
 
-file(GLOB_RECURSE IGNORED_FILES
-    "ignored/*.h"
-    "ignored/*.inl"
-    "ignored/*.cpp"
-)
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/BilateralResolution.h
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintBilateral.h
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintInsertion.h
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintUnilateral.h
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/InsertionResolution.h
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/UnilateralResolution.h
+
+    ${CONSTRAINTGEOMETRY_SRC}/directions/BindDirection.h
+    ${CONSTRAINTGEOMETRY_SRC}/directions/ContactDirection.h
+    ${CONSTRAINTGEOMETRY_SRC}/directions/FirstDirection.h
+    ${CONSTRAINTGEOMETRY_SRC}/directions/FixedFrameDirection.h
+    ${CONSTRAINTGEOMETRY_SRC}/directions/SecondDirection.h
 
-file(GLOB_RECURSE DEPRECATED_FILES
-    "deprecated/*.h"
-    "deprecated/*.inl"
-    "deprecated/*.cpp"
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/EdgeNormalHandler.h
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/GouraudTriangleNormalHandler.h
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/GravityPointNormalHandler.h
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/PhongTriangleNormalHandler.h
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/VectorPointNormalHandler.h
+
+    ${CONSTRAINTGEOMETRY_SRC}/operations/ConstraintProximityOperation.h
 )
 
-include_directories("${CMAKE_CURRENT_SOURCE_DIR}/ignored")
-#include_directories("${CMAKE_CURRENT_SOURCE_DIR}/deprecated")
+set(SOURCE_FILES
+    ${CONSTRAINTGEOMETRY_SRC}/initConstraintGeometry.cpp
 
-find_package(CollisionAlgorithm REQUIRED)
-find_package(Sofa.Component.StateContainer REQUIRED)
-find_package(Sofa.Component.Constraint.Lagrangian.Solver REQUIRED)
-find_package(Sofa.GL REQUIRED)
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintInsertion.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintBilateral.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/constraint/ConstraintUnilateral.cpp
 
-set_source_files_properties(${IGNORED_FILES} PROPERTIES HEADER_FILE_ONLY TRUE)
+    ${CONSTRAINTGEOMETRY_SRC}/directions/BindDirection.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/directions/ContactDirection.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/directions/FirstDirection.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/directions/FixedFrameDirection.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/directions/SecondDirection.cpp
+
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/EdgeNormalHandler.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/GouraudTriangleNormalHandler.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/GravityPointNormalHandler.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/PhongTriangleNormalHandler.cpp
+    ${CONSTRAINTGEOMETRY_SRC}/normalHandler/VectorPointNormalHandler.cpp
+)
+
+add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADER_FILES} ${README_FILES})
 
-add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADER_FILES} ${SCENES_FILES} ${IGNORED_FILES} ${DEPRECATED_FILES} ${README_FILES} )
-set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DPLUGIN_DATA_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\"")
 target_link_libraries(${PROJECT_NAME} 
     CollisionAlgorithm
     Sofa.Component.StateContainer
     Sofa.Component.Constraint.Lagrangian.Solver
     Sofa.GL
 )
 
-## Install rules for the library and headers; CMake package configurations files
-set(${PROJECT_NAME}_INCLUDE_DIRS "include/${PROJECT_NAME}")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
-sofa_create_package_with_targets(PACKAGE_NAME ${PROJECT_NAME} PACKAGE_VERSION 0.1 TARGETS ${PROJECT_NAME} INCLUDE_INSTALL_DIR ${${PROJECT_NAME}_INCLUDE_DIRS})
+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}
+    EXAMPLE_INSTALL_DIR "scenes"
+    RELOCATABLE "plugins"
+)

ConstraintGeometryConfig.cmake.in

@@ -4,6 +4,9 @@
 @PACKAGE_INIT@
 
 find_package(CollisionAlgorithm QUIET REQUIRED)
+find_package(Sofa.Component.StateContainer QUIET REQUIRED)
+find_package(Sofa.Component.Constraint.Lagrangian.Solver QUIET REQUIRED)
+find_package(Sofa.GL QUIET REQUIRED)
 
 if(NOT TARGET @PROJECT_NAME@)
         include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")

src/sofa/constraintGeometry/BaseConstraint.h → src/ConstraintGeometry/BaseConstraint.h

@@ -1,15 +1,15 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 #include <sofa/core/behavior/BaseLagrangianConstraint.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/constraintGeometry/ConstraintNormal.h>
-#include <sofa/constraintGeometry/InternalConstraint.h>
-#include <sofa/constraintGeometry/ConstraintResponse.h>
-#include <sofa/constraintGeometry/ConstraintDirection.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <ConstraintGeometry/ConstraintNormal.h>
+#include <ConstraintGeometry/InternalConstraint.h>
+#include <ConstraintGeometry/ConstraintResponse.h>
+#include <ConstraintGeometry/ConstraintDirection.h>
 
-namespace sofa::constraintGeometry {
+namespace sofa::constraintgeometry {
 
 
 class BaseConstraint : public sofa::core::behavior::BaseLagrangianConstraint{
@@ -35,16 +35,16 @@ class BaseConstraint : public sofa::core::behavior::BaseLagrangianConstraint{
 /*!
  * \brief The BaseConstraint abstract class is the implementation of sofa's abstract BaseLagrangianConstraint
  */
-template<class FIRST = collisionAlgorithm::BaseProximity, class SECOND = collisionAlgorithm::BaseProximity>
+template<class FIRST = collisionalgorithm::BaseProximity, class SECOND = collisionalgorithm::BaseProximity>
 class TBaseConstraint : public BaseConstraint {
 public:
     SOFA_CLASS(BaseConstraint, sofa::core::behavior::BaseLagrangianConstraint);
 
-    typedef collisionAlgorithm::BaseProximity BaseProximity;
+    typedef collisionalgorithm::BaseProximity BaseProximity;
 
     Data<double> d_drawScale;
     Data<bool> d_draw;
-    Data<collisionAlgorithm::DetectionOutput<FIRST,SECOND> > d_input; // THIS SHOULD BE REPLACED BY A PAIR OF CST PROXIMITY INPUT
+    Data<collisionalgorithm::DetectionOutput<FIRST,SECOND> > d_input; // THIS SHOULD BE REPLACED BY A PAIR OF CST PROXIMITY INPUT
     Data<std::vector<BaseInternalConstraint::SPtr> > d_container;
 
 	TBaseConstraint()

src/sofa/constraintGeometry/BaseNormalHandler.h → src/ConstraintGeometry/BaseNormalHandler.h

@@ -1,23 +1,23 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/CollisionPipeline.h>
-#include <sofa/collisionAlgorithm/BaseProximity.h>
-#include <sofa/constraintGeometry/ConstraintProximity.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
-#include <sofa/constraintGeometry/operations/ConstraintProximityOperation.h>
-#include <sofa/collisionAlgorithm/operations/CreateCenterProximity.h>
+#include <CollisionAlgorithm/CollisionPipeline.h>
+#include <CollisionAlgorithm/BaseProximity.h>
+#include <ConstraintGeometry/ConstraintProximity.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
+#include <ConstraintGeometry/operations/ConstraintProximityOperation.h>
+#include <CollisionAlgorithm/operations/CreateCenterProximity.h>
 
-namespace sofa ::constraintGeometry {
+namespace sofa ::constraintgeometry {
 
 /*!
  * \brief The BaseConstraint abstract class is the implementation of sofa's abstract BaseConstraint
  */
-class BaseNormalHandler : public collisionAlgorithm::CollisionComponent {
+class BaseNormalHandler : public collisionalgorithm::CollisionComponent {
 public:
-    SOFA_ABSTRACT_CLASS(BaseNormalHandler, collisionAlgorithm::CollisionComponent);
+    SOFA_ABSTRACT_CLASS(BaseNormalHandler, collisionalgorithm::CollisionComponent);
 
-    typedef collisionAlgorithm::BaseGeometry BaseGeometry;
-    typedef collisionAlgorithm::BaseProximity BaseProximity;
+    typedef collisionalgorithm::BaseGeometry BaseGeometry;
+    typedef collisionalgorithm::BaseProximity BaseProximity;
 
     void init() {
         if (getGeometry()==NULL) {
@@ -46,7 +46,7 @@ class BaseNormalHandler : public collisionAlgorithm::CollisionComponent {
         glDisable(GL_LIGHTING);
         if (color[3] == 0.0) return;
 
-        collisionAlgorithm::Operations::CreateCenterProximity::FUNC operation = collisionAlgorithm::Operations::CreateCenterProximity::Operation::get(getGeometry()->pointBegin());
+        collisionalgorithm::Operations::CreateCenterProximity::FUNC operation = collisionalgorithm::Operations::CreateCenterProximity::Operation::get(getGeometry()->pointBegin());
 
         for (auto it = getGeometry()->pointBegin();it != getGeometry()->end(); it++) {
             auto prox = operation(it->element());

src/sofa/constraintGeometry/ConstraintDirection.h → src/ConstraintGeometry/ConstraintDirection.h

@@ -1,12 +1,12 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 #include <sofa/core/behavior/BaseLagrangianConstraint.h>
-#include <sofa/constraintGeometry/ConstraintNormal.h>
-#include <sofa/constraintGeometry/InternalConstraint.h>
+#include <ConstraintGeometry/ConstraintNormal.h>
+#include <ConstraintGeometry/InternalConstraint.h>
 
-namespace sofa::constraintGeometry {
+namespace sofa::constraintgeometry {
 
 /*!
  * \brief The BaseConstraint abstract class is the implementation of sofa's abstract BaseLagrangianConstraint
@@ -15,7 +15,7 @@ class ConstraintDirection : public sofa::core::objectmodel::BaseObject {
 public:
     SOFA_CLASS(ConstraintDirection, sofa::core::objectmodel::BaseObject);
 
-    typedef collisionAlgorithm::BaseProximity BaseProximity;
+    typedef collisionalgorithm::BaseProximity BaseProximity;
 
     virtual ConstraintNormal createConstraintsNormal(const BaseProximity::SPtr & first, const BaseProximity::SPtr & second) const = 0;
 

src/sofa/constraintGeometry/ConstraintNormal.h → src/ConstraintGeometry/ConstraintNormal.h

@@ -2,9 +2,9 @@
 
 #include <sofa/type/vector.h>
 #include <sofa/defaulttype/VecTypes.h>
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
 
-namespace sofa::constraintGeometry {
+namespace sofa::constraintgeometry {
 
 /*!
  * \brief The ConstraintNormal class
@@ -14,9 +14,9 @@ namespace sofa::constraintGeometry {
 class ConstraintNormal {
 public:
 
-    typedef collisionAlgorithm::BaseProximity BaseProximity;
-    typedef collisionAlgorithm::BaseBaseProximity FIRST;
-    typedef collisionAlgorithm::BaseBaseProximity SECOND;
+    typedef collisionalgorithm::BaseProximity BaseProximity;
+    typedef collisionalgorithm::BaseBaseProximity FIRST;
+    typedef collisionalgorithm::BaseBaseProximity SECOND;
     typedef std::function<double(const typename FIRST::SPtr &, const typename SECOND::SPtr &, const type::Vec3 &)> ViolationFunction;
 
     static double defaultViolationFunction(const typename FIRST::SPtr & first, const typename SECOND::SPtr & second, const type::Vec3 & normal) {

src/sofa/constraintGeometry/ConstraintProximity.h → src/ConstraintGeometry/ConstraintProximity.h

@@ -1,11 +1,11 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseProximity.h>
+#include <CollisionAlgorithm/BaseProximity.h>
 #include <memory>
 
-namespace sofa::constraintGeometry {
+namespace sofa::constraintgeometry {
 
-class ConstraintProximity : public virtual collisionAlgorithm::BaseBaseProximity {
+class ConstraintProximity : public virtual collisionalgorithm::BaseBaseProximity {
 public:
 
     typedef std::shared_ptr<ConstraintProximity> SPtr;
@@ -66,7 +66,7 @@ class TConstraintProximity : public ConstraintProximity {
 };
 
 template<class PROXIMITY>
-class BaseProximityNormal : public PROXIMITY, public constraintGeometry::ConstraintProximity {
+class BaseProximityNormal : public PROXIMITY, public constraintgeometry::ConstraintProximity {
 public:
     typedef std::shared_ptr<BaseProximityNormal> SPtr;
 
@@ -100,7 +100,7 @@ class DefaultConstraintProximity : public ConstraintProximity {
 
     typedef std::shared_ptr<DefaultConstraintProximity> SPtr;
 
-    DefaultConstraintProximity(const collisionAlgorithm::BaseProximity::SPtr & p)
+    DefaultConstraintProximity(const collisionalgorithm::BaseProximity::SPtr & p)
     : m_prox(p) {}
 
     sofa::type::Vec3 getPosition(core::VecCoordId v = core::vec_id::write_access::position) const override {
@@ -123,12 +123,12 @@ class DefaultConstraintProximity : public ConstraintProximity {
         return type::Vec3();
     }
 
-    static ConstraintProximity::SPtr create(const collisionAlgorithm::BaseProximity::SPtr & p) {
+    static ConstraintProximity::SPtr create(const collisionalgorithm::BaseProximity::SPtr & p) {
         return ConstraintProximity::SPtr(new DefaultConstraintProximity(p));
     }
 
 protected:
-    collisionAlgorithm::BaseProximity::SPtr m_prox;
+    collisionalgorithm::BaseProximity::SPtr m_prox;
 };
 
 

src/sofa/constraintGeometry/ConstraintResponse.h → src/ConstraintGeometry/ConstraintResponse.h

@@ -1,14 +1,14 @@
 #pragma once
 
-#include <sofa/collisionAlgorithm/BaseAlgorithm.h>
-#include <sofa/collisionAlgorithm/BaseGeometry.h>
+#include <CollisionAlgorithm/BaseAlgorithm.h>
+#include <CollisionAlgorithm/BaseGeometry.h>
 #include <sofa/core/behavior/BaseLagrangianConstraint.h>
-#include <sofa/constraintGeometry/ConstraintNormal.h>
-#include <sofa/constraintGeometry/InternalConstraint.h>
+#include <ConstraintGeometry/ConstraintNormal.h>
+#include <ConstraintGeometry/InternalConstraint.h>
 
 namespace sofa {
 
-namespace constraintGeometry {
+namespace constraintgeometry {
 
 /*!
  * \brief The BaseConstraint abstract class is the implementation of sofa's abstract BaseLagrangianConstraint