[Collision.Geometry] Use StateAccessor and Topology accessor

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.h

@@ -26,6 +26,8 @@
 #include <sofa/core/objectmodel/BaseObject.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/core/collision/Intersection.h>
+#include <sofa/core/behavior/SingleStateAccessor.h>
+#include <sofa/core/behavior/TopologyAccessor.h>
 
 
 namespace sofa::component::collision::geometry
@@ -73,10 +75,16 @@ class TLine : public core::TCollisionElementIterator<LineCollisionModel<TDataTyp
 using Line = TLine<sofa::defaulttype::Vec3Types>;
 
 template<class TDataTypes>
-class LineCollisionModel : public core::CollisionModel
+class LineCollisionModel :
+    public core::CollisionModel,
+    public virtual core::behavior::SingleStateAccessor<TDataTypes>,
+    public virtual core::behavior::TopologyAccessor
 {
-public :
-    SOFA_CLASS(SOFA_TEMPLATE(LineCollisionModel, TDataTypes), core::CollisionModel);
+public:
+    SOFA_CLASS3(SOFA_TEMPLATE(LineCollisionModel, TDataTypes),
+        core::CollisionModel,
+        core::behavior::SingleStateAccessor<TDataTypes>,
+        core::behavior::TopologyAccessor);
 
     enum LineFlag
     {
@@ -130,7 +138,7 @@ public :
 
     bool canCollideWithElement(sofa::Index index, CollisionModel* model2, sofa::Index index2) override;
 
-    core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return mstate; }
+    core::behavior::MechanicalState<DataTypes>* getMechanicalState() { return this->mstate.get(); }
 
     Deriv velocity(sofa::Index index)const;
 
@@ -163,12 +171,9 @@ public :
 
     Data<bool> d_displayFreePosition; ///< Display Collision Model Points free position(in green)
 
-    /// Link to be set to the topology container in the component graph.
-    SingleLink<LineCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
-
 protected:
-    core::behavior::MechanicalState<DataTypes>* mstate;
-    Topology* topology;
+    using sofa::core::behavior::SingleStateAccessor<TDataTypes>::mstate;
+    using sofa::core::behavior::TopologyAccessor::l_topology;
     PointCollisionModel<sofa::defaulttype::Vec3Types>* mpoints;
     int meshRevision;
 };

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/LineCollisionModel.inl

@@ -21,14 +21,14 @@
 ******************************************************************************/
 #pragma once
 #include <sofa/component/collision/geometry/LineCollisionModel.h>
-#include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/component/collision/geometry/PointCollisionModel.h>
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/component/collision/geometry/CubeCollisionModel.h>
 #include <sofa/core/CollisionElement.h>
 #include <sofa/simulation/Node.h>
 #include <sofa/core/topology/TopologyChange.h>
 #include <vector>
+#include <sofa/core/behavior/SingleStateAccessor.inl>
 
 namespace sofa::component::collision::geometry
 {
@@ -39,8 +39,7 @@ template<class DataTypes>
 LineCollisionModel<DataTypes>::LineCollisionModel()
     : d_bothSide(initData(&d_bothSide, false, "bothSide", "activate collision on both side of the line model (when surface normals are defined on these lines)") )
     , d_displayFreePosition(initData(&d_displayFreePosition, false, "displayFreePosition", "Display Collision Model Points free position(in green)") )
-    , l_topology(initLink("topology", "link to the topology container"))
-    , mstate(nullptr), topology(nullptr), meshRevision(-1)
+    , meshRevision(-1)
 {
     enum_type = LINE_TYPE;
 }
@@ -57,21 +56,24 @@ template<class DataTypes>
 void LineCollisionModel<DataTypes>::init()
 {
     this->CollisionModel::init();
-    mstate = dynamic_cast< core::behavior::MechanicalState<DataTypes>* > (getContext()->getMechanicalState());
-    this->getContext()->get(mpoints);
 
-    if (mstate==nullptr)
+    if (!this->isComponentStateInvalid())
     {
-        msg_error() << "LineModel requires a Vec3 Mechanical Model";
-        return;
+        this->validateMState();
+    }
+
+    if (!this->isComponentStateInvalid())
+    {
+        this->validateTopology();
     }
 
-    if (l_topology.empty())
+    if (this->isComponentStateInvalid())
     {
-        msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
-        l_topology.set(this->getContext()->getMeshTopologyLink());
+        return;
     }
 
+    this->getContext()->get(mpoints);
+
     core::topology::BaseMeshTopology *bmt = l_topology.get();
     msg_info() << "Topology path used: '" << l_topology.getLinkedPath() << "'";
 
@@ -541,15 +543,15 @@ template<class DataTypes>
 int LineCollisionModel<DataTypes>::getLineFlags(sofa::Index i)
 {
     int f = 0;
-    if (topology)
+    if (l_topology)
     {
         sofa::core::topology::BaseMeshTopology::Edge e(elems[i].p[0], elems[i].p[1]);
         i = getElemEdgeIndex(i);
-        if (i < topology->getNbEdges())
+        if (i < l_topology->getNbEdges())
         {
             for (sofa::Index j=0; j<2; ++j)
             {
-                const auto& eav = topology->getEdgesAroundVertex(e[j]);
+                const auto& eav = l_topology->getEdgesAroundVertex(e[j]);
                 if (eav[0] == (sofa::core::topology::BaseMeshTopology::EdgeID)i)
                     f |= (FLAG_P1 << j);
                 if (eav.size() == 1)

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.h

@@ -26,6 +26,8 @@
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/behavior/SingleStateAccessor.h>
+#include <sofa/core/behavior/TopologyAccessor.h>
 
 namespace sofa::component::collision::geometry
 {
@@ -60,10 +62,16 @@ class TPoint : public core::TCollisionElementIterator<PointCollisionModel<TDataT
 using Point = TPoint<sofa::defaulttype::Vec3Types>;
 
 template<class TDataTypes>
-class PointCollisionModel : public core::CollisionModel
+class PointCollisionModel :
+    public core::CollisionModel,
+    public virtual core::behavior::SingleStateAccessor<TDataTypes>,
+    public virtual core::behavior::TopologyAccessor
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(PointCollisionModel, TDataTypes), core::CollisionModel);
+    SOFA_CLASS3(SOFA_TEMPLATE(PointCollisionModel, TDataTypes),
+        core::CollisionModel,
+        core::behavior::SingleStateAccessor<TDataTypes>,
+        core::behavior::TopologyAccessor);
 
     typedef TDataTypes DataTypes;
     typedef DataTypes InDataTypes;
@@ -129,16 +137,13 @@ class PointCollisionModel : public core::CollisionModel
 
 protected:
 
-    core::behavior::MechanicalState<DataTypes>* mstate;
+    using sofa::core::behavior::SingleStateAccessor<TDataTypes>::mstate;
 
     Data<bool> d_computeNormals; ///< activate computation of normal vectors (required for some collision detection algorithms)
     Data<bool> d_displayFreePosition; ///< Display Collision Model Points free position(in green)
 
     VecDeriv normals;
 
-    /// Link to be set to the topology container in the component graph.
-    SingleLink<PointCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
-
 };
 
 

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/PointCollisionModel.inl

@@ -28,17 +28,16 @@
 #include <sofa/core/topology/BaseMeshTopology.h>
 #include <sofa/simulation/Node.h>
 #include <sofa/component/collision/geometry/CubeCollisionModel.h>
+#include <sofa/core/behavior/SingleStateAccessor.inl>
 
 namespace sofa::component::collision::geometry
 {
 
 template<class DataTypes>
 PointCollisionModel<DataTypes>::PointCollisionModel()
     : d_bothSide(initData(&d_bothSide, false, "bothSide", "activate collision on both side of the point model (when surface normals are defined on these points)") )
-    , mstate(nullptr)
     , d_computeNormals(initData(&d_computeNormals, false, "computeNormals", "activate computation of normal vectors (required for some collision detection algorithms)") )
     , d_displayFreePosition(initData(&d_displayFreePosition, false, "displayFreePosition", "Display Collision Model Points free position(in green)") )
-    , l_topology(initLink("topology", "link to the topology container"))
 {
     enum_type = POINT_TYPE;
 }
@@ -53,18 +52,20 @@ template<class DataTypes>
 void PointCollisionModel<DataTypes>::init()
 {
     this->CollisionModel::init();
-    mstate = dynamic_cast< core::behavior::MechanicalState<DataTypes>* > (getContext()->getMechanicalState());
 
-    if (mstate==nullptr)
+    if (!this->isComponentStateInvalid())
     {
-        msg_error() << "PointModel requires a Vec3 Mechanical Model";
-        return;
+        this->validateMState();
     }
 
-    if (l_topology.empty())
+    if (!this->isComponentStateInvalid())
     {
-        msg_info() << "link to Topology container should be set to ensure right behavior. First Topology found in current context will be used.";
-        l_topology.set(this->getContext()->getMeshTopologyLink());
+        this->validateTopology();
+    }
+
+    if (this->isComponentStateInvalid())
+    {
+        return;
     }
 
     const int npoints = mstate->getSize();

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.cpp

@@ -70,13 +70,12 @@ void RayCollisionModel::init()
 {
     this->CollisionModel::init();
 
-    mstate = dynamic_cast< core::behavior::MechanicalState<Vec3Types>* > (getContext()->getMechanicalState());
-    if (mstate==nullptr)
+    if (!this->isComponentStateInvalid())
     {
-        msg_error() << "RayCollisionModel requires a Vec3 Mechanical Model";
-        return;
+        this->validateMState();
     }
 
+    if (!this->isComponentStateInvalid())
     {
         const int npoints = mstate->getSize();
         resize(npoints);

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/RayCollisionModel.h

@@ -25,6 +25,7 @@
 #include <sofa/core/CollisionModel.h>
 #include <sofa/defaulttype/VecTypes.h>
 #include <set>
+#include <sofa/core/behavior/SingleStateAccessor.h>
 
 namespace sofa::component::collision::response::contact
 {
@@ -52,10 +53,14 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API Ray : public core::TCollisionElement
     void setL(SReal newL);
 };
 
-class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel : public core::CollisionModel
+class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel :
+    public core::CollisionModel,
+    public virtual sofa::core::behavior::SingleStateAccessor<defaulttype::Vec3Types>
 {
 public:
-    SOFA_CLASS(RayCollisionModel, core::CollisionModel);
+    SOFA_CLASS2(RayCollisionModel,
+        core::CollisionModel,
+        sofa::core::behavior::SingleStateAccessor<defaulttype::Vec3Types>);
 
     typedef sofa::defaulttype::Vec3Types InDataTypes;
     typedef sofa::defaulttype::Vec3Types DataTypes;
@@ -95,7 +100,7 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API RayCollisionModel : public core::Col
     Data<SReal> d_defaultLength; ///< The default length for all rays in this collision model
 
     std::set<response::contact::BaseRayContact*> contacts;
-    core::behavior::MechanicalState<defaulttype::Vec3Types>* mstate;
+    using sofa::core::behavior::SingleStateAccessor<defaulttype::Vec3Types>::mstate;
 
 };
 

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.h

@@ -26,6 +26,7 @@
 #include <sofa/defaulttype/VecTypes.h>
 #include <sofa/core/behavior/MechanicalState.h>
 #include <sofa/core/topology/BaseMeshTopology.h>
+#include <sofa/core/behavior/SingleStateAccessor.h>
 
 namespace sofa::component::collision::geometry
 {
@@ -80,10 +81,14 @@ sofa::type::Vec3 TSphere<defaulttype::Vec3Types >::getContactPointWithSurfacePoi
 
 
 template< class TDataTypes>
-class SphereCollisionModel : public core::CollisionModel
+class SphereCollisionModel :
+    public core::CollisionModel,
+    public virtual core::behavior::SingleStateAccessor<TDataTypes>
 {
 public:
-    SOFA_CLASS(SOFA_TEMPLATE(SphereCollisionModel, TDataTypes), core::CollisionModel);
+    SOFA_CLASS2(SOFA_TEMPLATE(SphereCollisionModel, TDataTypes),
+        core::CollisionModel,
+        core::behavior::SingleStateAccessor<TDataTypes>);
 
     typedef TDataTypes DataTypes;
     typedef DataTypes InDataTypes;
@@ -170,8 +175,7 @@ class SphereCollisionModel : public core::CollisionModel
     void computeBBox(const core::ExecParams* params, bool onlyVisible=false) override;
 
 protected:
-    core::behavior::MechanicalState<DataTypes>* mstate;
-    SingleLink<SphereCollisionModel<DataTypes>, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
+    using sofa::core::behavior::SingleStateAccessor<TDataTypes>::mstate;
 };
 
 template<class DataTypes>

Sofa/Component/Collision/Geometry/src/sofa/component/collision/geometry/SphereCollisionModel.inl

@@ -25,6 +25,7 @@
 #include <sofa/core/visual/VisualParams.h>
 #include <sofa/component/collision/geometry/CubeCollisionModel.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/core/behavior/SingleStateAccessor.inl>
 
 #include <sofa/core/objectmodel/BaseObject.h>
 using sofa::core::objectmodel::ComponentState ;
@@ -37,7 +38,6 @@ SphereCollisionModel<DataTypes>::SphereCollisionModel()
     : d_radius(initData(&d_radius, "listRadius", "Radius of each sphere"))
     , d_defaultRadius(initData(&d_defaultRadius, (SReal)(1.0), "radius", "Default radius"))
     , d_showImpostors(initData(&d_showImpostors, true, "showImpostors", "Draw spheres as impostors instead of \"real\" spheres"))
-    , mstate(nullptr)
 {
     enum_type = SPHERE_TYPE;
 }
@@ -47,7 +47,6 @@ SphereCollisionModel<DataTypes>::SphereCollisionModel(core::behavior::Mechanical
     : d_radius(initData(&d_radius, "listRadius", "Radius of each sphere"))
     , d_defaultRadius(initData(&d_defaultRadius, (SReal)(1.0), "radius", "Default radius"))
     , d_showImpostors(initData(&d_showImpostors, true, "showImpostors", "Draw spheres as impostors instead of \"real\" spheres"))
-    , mstate(_mstate)
 {
     enum_type = SPHERE_TYPE;
 }
@@ -81,24 +80,18 @@ void SphereCollisionModel<DataTypes>::init()
         msg_warning() << "Calling an already fully initialized component. You should use reinit instead." ;
     }
 
-    this->CollisionModel::init();
-    mstate = dynamic_cast< core::behavior::MechanicalState<DataTypes>* > (getContext()->getMechanicalState());
-    if (mstate==nullptr)
+    if (!this->isComponentStateInvalid())
     {
-        //TODO(dmarchal): The previous message was saying this only work for a vec3 mechanicalstate but there
-        // it seems that a mechanicalstate will work we well...where is the truth ?
-        msg_error(this) << "Missing a MechanicalObject with template '" << DataTypes::Name() << ". "
-                           "This MechnicalObject stores the position of the spheres. When this one is missing the collision model is deactivated. \n"
-                           "To remove this error message you can add to your scene a line <MechanicalObject template='"<< DataTypes::Name() << "'/>. ";
-        d_componentState.setValue(ComponentState::Invalid) ;
-
-        return;
+        this->validateMState();
     }
 
-    const auto npoints = mstate->getSize();
-    resize(npoints);
+    if (!this->isComponentStateInvalid())
+    {
+        const auto npoints = mstate->getSize();
+        resize(npoints);
 
-    d_componentState.setValue(ComponentState::Valid) ;
+        d_componentState.setValue(ComponentState::Valid) ;
+    }
 }