Report of "SOFA dev meetings"

Join us every Wednesday 9 am CET online: www.sofa-framework.org/sofa-dev-meeting

SOFA DEV - Notes

07/05/2024

News

Check out and register to our upcoming events!
- SOFA America Workshop: on 30-31 May in Montreal (Canada)
- SOFA Technical Committee #17: on 10-12 June in Strasbourg (France)
- Soft Robotic summer school: on 8-12 July in Lille (France)
Pre-STC#17 discussions took place with roadmap leaders and consortium members
Next SOFA-dev meeting next Tuesday the 14th of May at 10 a.m.!

Technical discussions

Post-install scripts : why modifying the plugin_list.conf? Paul will refactor this removed plugin list and think of removing it completely.
Python bindings : Slicer community identified problems of IDE/interpreter auto-completion. The Slicer team proposed to show their fox for this same problem on their bindings. Before organizing a meeting, ask Damien about current auto-completion ability of vanilla interpreter on the current python3 bindings.
Add Qt Wayland plugin installation instructions #109 Proposes new instruction for qt installation when using wayland. Instead of adding a troubleshoot section, add an item in the installation doc with "if using wayland, then..."
[Sofa.Http] Introduction of a latest release checker #4702 OpenSSL is too much of a dependency for such not important. It might be better to make a request on a http adress instead to avoid this dependency. Talk with Fred.
Small discussion on paper Chen, Anka He, et al. Vertex Block Descent. ACM Transactions on Graphics (2024) Results are interesting on either performance or stability. Use an energy formulation with an Euler integration scheme at the dof level which increases parallelism and stability. It would be worth at looking more in details. Lib used for collision detection : Embree which could also be interesting to dig in. Based on SYCL to have a cross-platform
Using the WriterSide tool, Alex presented a way to generate markdown pages for all SOFA components (see https://alxbilger.github.io/SofaDocGenerator). This could be used in the SOFA GUI to guide users regarding Data etc. We could also envisage to merge such a code-based doc with the user documentation.

SOFA PR review

#4715 [AnimationLoop] Remove duplicated Constraint Visitors Fwd declaration with using in header to fasten compilation, includes in the cpp. → ready
#4714 [SofaCUDA] extern template instantiations Create an issue to solve problem on SOFA_TARGET generation → ready
#4702 [Sofa.Http] Introduction of a latest release checker See above technical discussion → wip
#4687 [examples] Use MeshMatrixMass in hyperelastic examples → wip
#4686 [CMake] Start finding Qt6 then Qt5 → ready
#4684 [Visual] Rename Data Lots of scene test crashing → wip
#4682 [Setting] Rename Data Wait for CI → keep to review
#4681 [Playback] Rename Data → ready
#4680 [ODESolver] Rename Data → ready
#4679 [IO] Rename Data Still need some review → keep to review
#4676 [Collision.Geometry+Response] Rename Data Still need some review → keep to review
#4673 [Modeler] : WIP : Compatible Modeler project with last version Work attempting to revive the Modeler but this based on a very old version of SOFA. The PR should be restarted from a fresh master version and changes should be only focusing on Modeler. As an information, an implementation of a new Modeler are being prepared. To be cleaned (remove reverted changes from master commits) or closed. → wip
#4651 [FEM.HyperElastic] Convert string Data to OptionsGroup wait for CI → then ready
#4648 [GUI.Qt] Notice user a new version is available See technical discussions, this PR can be closed → closed
#4646 [Constraint.Lagrangian] Add fixed lagrangian constraint → ready
#4163 [all] Deprecates the hard coded interactions in components → wip

SOFA PR merged within the week

30/04/2024

News

Check out and register to our upcoming events!
- SOFA America Workshop: on 30-31 May in Montreal (Canada)
- SOFA Technical Committee #17: on 10-12 June in Strasbourg (France)
- Soft Robotic summer school: on 8-12 July in Lille (France)
Pre-STC#17 discussions took place with roadmap leaders and consortium members
Next SOFA-Dev meeting on next Tuesday the 7th of may at 10 a.m. !

Technical discussions

Update Qt6 on the Continuous Integration (further to #4686)
Alex worked with Writerside, a documentation-focused IDE. Here is an example for SOFA: https://alxbilger.github.io/sofaWriterside/. Unit test failing. Might be a good tool to track errors, and construct the doc locally.

SOFA PR review

#4684 [Visual] Rename Data Forwarding of default constructor has been added in topologicalData. It could be removed to keep only a regular Data which has the new data as parent. → keep to review
#4678 [Controller+Engine] Rename Data → ready
#4674 [Collision.Detection.Algorithm] Rename Data Missing compatibility layer to deprecate the dDraw data → keep to review
#4651 [FEM.HyperElastic] Convert string Data to OptionsGroup Wait for tests to re-run, wait for ci-depends-on → then ready
#4650 [GUI.Qt] Add clickable link to online documentation This would work if the associated PR on the documentation is merged: #108 → ready
#4649 [Spring] Merging StiffSpringForceField and its parent Test CUDA compilation → keep to review then ready
#4648 [GUI.Qt] Notice user a new version is available Review of existing libraries is ongoing. Question about the ability to dev a server with curl to replace the QWebBrowser. → keep draft
#4646 [Constraint.Lagrangian] Add fixed lagrangian constraint Implement Vec specialization. → wip
#4625 [LinearSystem] Cache mapped mass matrix → ready
#4163 [all] Deprecates the hard coded interactions in components → keep to review
#3368 [Topology] Add function in BaseMeshTopology to compute all topology containers Problem with SoftRobots mesh not properly structured because this PR increase the topological constraints on the meshes. All level of element should be consistant even when only the tetra are used. GMesh generated mesh file register only the surface triangles in the file which is inconsistent with all the tetrahedral elements. Erik will test if the example scene work with dynamic topo that recompute the lesser elements. → to be discussed at STC#17

PR merged within the week

#4695 [Guidelines] Format cpp code

17/04/2024

News

Check out and register to our upcoming events!
- SOFA America Workshop: on 30-31 May in Montreal (Canada)
- SOFA Technical Committee #17: on 10-12 June in Strasbourg (France)
- Soft Robotic summer school: on 8-12 July in Lille (France)
Next SOFA dev meeting will be held online on TUESDAY 30th April at 10 a.m. !

Technical discussions

What to do with SofaOpenCL ? → Externalize and make it an achive
#4648 [Gui.Qt] Notice user a new version is available → Use external lib instead of QT to do the http request. To be commonly defined.
SOFA release as conda packages: https://github.com/sofa-framework/conda-ci → Try it out to provide feedback. Conda PR is pushed again with help of core-dev of Conda (through TIRREX)
Problem with QWebEngineView pointed in #4656 → Again, might be great not to use a Qt based library for the DocBrowser and instead use the web browser -> will require to have a server on SOFA's side. And maybe think about UX (where and when to put it)

SOFA PR review

#4651 [FEM.HyperElastic] Convert string Data to OptionsGroup CI shows errors and test failures → wip
#4650 [GUI.Qt] Add clickable link to online documentation An automatic link could be generated from namespace and a check could be added if page exists (list of documented components). A discussion should be planned at STC#17! Damien suggests to reactivate the python script generating the documented components. → closed ?
#4649 [Spring] Merging StiffSpringForceField and its parent Further to issue #248, this PR merged StiffSpringForceField and SpringForceField, becoming one single SpringForceField. A data could be added in ForceField (Base class) to enforce an explicit-only behavior of the ForceField. Need some time to review → keep to review
#4648 [Gui.Qt] Notice user a new version is available See the above technical discussion → wip
#4646 [Constraint.Lagrangian] Add fixed lagrangian constraint At init, the SingleStateAccessor already does the check done in the FixedLagrangianConstraint. Remove it then ready. → wip
#4641 [QtGui] Some cleaning in qt RealGui → ready
#4639 [Fem] Small update on container access to avoid unecessary check → ready
#4638 [GUI.Component] Add virtualization for attachment performer Add issue to rethink performers api → ready
#4637 [SofaGuiQt] Add PenalityContact vector Data display → ready
#4628 [ODESolver] Explicit link to linear solver Add deprecation layer on the function m_setSystemMBKMatrix() else perfect! → wip
#4625 [LinearSystem] Cache mapped mass matrix Reviews taken into accound for the Mass and change in all linear mapping so that isLinear() returns true. Stiffness matrix could be implemented later on. TODO: add an observer on the mapping. → keep to review
#4163 [all] Deprecates the hard coded interactions in components Asked reimplementation of controlers was done. Date for deprecation should be added, to do so check other usages of msg_deprecated() → keep to review then ready

SOFA PR merged within the week

SOFAPYTHON3 PR merged within the week

#412 [CI] enable tag release

10/04/2024

News

Release 23.12 patched → v23.12.01 is available
SOFA America Workshop: on 30-31 May in Montreal (Canada)
- Pre-program is available
- Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France).
- Registration is open!
Soft Robotic summer school: on 8-12 July in Lille (France).
- Registration is open! Don't forget to submit an abstract for a poster contribution after registration! Deadline has been extended to the 15th of April (Monday next week !)

Technical discussions

minor topic: measuring projection/distances on a surface #4519 Should rely on the RayCollisionModel to take advantage of the collision pipeline (BroadPhase)
#4625 : interest according to InSimo, no feedback from Mimesis

SOFA PR review

#4625 [LinearSystem] Cache mapped mass matrix The feature caching a mapped mass matrix is interesting and it can be added directly in SOFA. Adding a similar mechanism for the stiffness matrix could be implemented (not yet in the PR). Use of DDG to update the data value when input data is modified (dt, and mstate.size). However, we do not detect changes in mapping for now (update), tracking the componentState of mapping could be a solution (if callbacks are well implemented in mappings). About the stiffness, it usually depends on the current dofs. Therefore, it is often non-constant (apart from stiff springs, constantFF, small deformation elasticity). Question on dynamic changes in the DDG : what append when the object owning a data in the graph is deleted ? Investigate a new solution for cache invalidation that would work with the Stiffness. → wip
#4603 [HyperElastic] Introduce stable Neo Hookean hyperelastic material → ready
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Add issue on LCPForceFeedback test because it result is random. Update the depreciation versions. → update then ready
#3927 [Mass] Replace doUpdateInternal by callback: UniformMass Question on the usage of 'default value' if some are meant to be set (required). Here the component is invalid if none of the data (total mass or vertexMass) is set although a default value exists. This mechanism is not great but it is the best we can get with the current API. It would require to modify the global initialization mechanism and data framework (input, output, inout, required...) to have something better. Create issue to discuss this API update at the STC. Replace componentState.getValue() with isComponentStateValid() in the init() function → update then ready
#3368 [Topology] Add function in BaseMeshTopology to compute all topology containers Test failing → wip

SOFAPYTHON3 PR review

#412 [CI] enable tag release PR applied to all plugins where we need a release of the sources (using both a branch or a tag) → ready

SOFA PR merged within the week

03/04/2024

News

Release 23.12 patched → v23.12.01 is available
SOFA America Workshop: on 30-31 May in Montreal (Canada)
- Pre-program is available
- Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France).
- Registration is open!
Soft Robotic summer school: on 8-12 July in Lille (France).
- Registration is open! Don't forget to submit an abstract for a poster contribution after registration! Deadline is April 8th.

Technical discussions

#4625 [LinearSystem] Cache mapped mass matrix Discussion on J^T M J pre-computation: with a mapped node, we build a node-local matrix which is then projected in the global system. ForceFields and Masses can be concerned. It requires changes in Sofa/Core and in MatrixLinearSystem involving the Observer design pattern. This could be extended to stiffness as well but we lack of application cases. A data could also be added to activate or de-activate this feature. → ask other dev teams
SOFA release versions
- v23.12 for Ubuntu 20.04 → generate unsupported binaries on forum
- Soon MacOS release

SOFA PR review

#4603 [HyperElastic] Introduce stable Neo Hookean hyperelastic material Get a deeper understanding on Kronecker operator and evaluate how to implement eigenvalues clamping → keep to review
#3928 [Mass] Replace doUpdateInternal by callback: MeshMatrixMass same as #3927 → wip
#3927 [Mass] Replace doUpdateInternal by callback: UniformMass Similar feature is merged for the ConstantForceField in #3924. It adds separate callbacks for each data but a hacky flag allows to avoid data cross-dependency by de-activating all inputs non-set at the initialization. It could be done here as well but a more robust implementation (Data, callback) could be found. Add a unit test to make sure that no data cross-dependency is triggered. Manual test as well. Note: later, if a callback simply raises a flag change, we could define non-laizy callbacks. → wip

SOFA PR merged within the week

SOFAPYTHON3 PR merged within the week

#408 Update cmake minimal version in cmake

27/03/2024

News

Release 23.12 patched → v23.12.01 is available
First training session on Soft robotics took place online on Thursday ! You can be part of a next session by registering here !
SOFA America Workshop: on 30-31 May in Montreal (Canada)
- Pre-program is available
- Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France).
- Registration is open!
Soft Robotic summer school: on 8-12 July in Lille (France).
- Registration is open! Don't forget to submit an abstract for a poster contribution after registration! Deadline is April 8th.

Technical discussions

Release 23.12 remaining tasks: last issues are fixed, one remaining in SoftRobots.Inverse. We're on it!
Technical skills in CI/CMake: share the associated knowledge among the core-devs

SOFA PR review

#4608 [plugins] Add fetchable ModelOrderReduction Script added on CI and compiles → ready
#4603 [HyperElastic] Introduce stable Neo Hookean hyperelastic material Take time to look at maths: Hugo, Rémi and maybe Francois 🔥 → keep to review
#4601 [GUI] Add ConstraintAttachButtonSetting Example added and alias removed. Add description of C++ class and example. → keep to review
#4589 [plugins] Externalize all remaining plugins → closed
#4588 [LinearSystem.Direct] Remove metis dependency Sofa.Metis plugin not compatible with Sofa version older thant this PR because of multiple target definition. TODO: Create a CI and add readme to the plugin. → ready
#4583 [Collision.Detection] Give current intersection methods as parameter to intersection functions Keep compatibility layer which implies the boiler-plate code. Let's keep it this way until the v24.06 release and the lifecycle tasks further to the release → ready
#4582 [Collision.Response.Contact] Make contactId thread-safe Remove the mechanism of availableId because its type is uint64. This should not required to have these integers in a list. → ready
#4580 [Simulation] Tests: introduce multiple parallel simulations → ready
#4575 [plugins] Externalize haptic/interface plugins → closed
#4573 [plugins] Externalize SofaDistanceGrid plugin Wait for next release to identify the points to automatize → closed
#4536 Refactor a bit the way runSofa is implementing the scenegraph colors Keep only the 2-line change if the full API is not addressed → wip

SOFAPYTHON3 PR review

#409 Deactivate gui bindings when lib is not found Change mechanism to fit SOFAExporter → wip
#408 Update cmake minimal version in cmake → ready
#383 Update readme → closed

SOFA PR merged within the week

SOFAPYTHON3 PR merged within the week

#375 [Environment] Fix test for plugins envvars

20/03/2024

News

Release 23.12 is out !! --> https://github.com/sofa-framework/sofa/releases/tag/v23.12.00
SOFA America Workshop: on 30-31 May in Montreal (Canada)
- Pre-program is available
- Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France).
- Registration is open!

Technical discussions

#4583 [Collision.Detection] Give current intersection methods as parameter to intersection functions This PR is part of a bigger task which aims at enabling multithreaded simulations (launching multiple simulations in parallel). The intersection mechanism allows to add methods for intersection through a factory. At runtime, an intersection object is created for the proximity in use in the simulation. The problem is that this pointer is created at runtime, is global and saved as pointer, creating race conditions. Here instead of refering to this singleton, it is passed through parameter to make it thread safe. Question is raised about shall we keep the compatibility layer or not regarding the method lacking the output parameter.

SOFA PR review

#4603 [HyperElastic] Introduce stable Neo Hookean hyperelastic material This pr add tests of the hyperelastic materials (existing one and this new one) and some tests on the existing one are not passing. The code is a good first implementation but might miss some features (clamping). Parts of the implementation are uncertain (even if validated by tests) because of the lack of documentation on the hyperelastic materials. Would be great to test high compression with a beam fixed with springs instead of projective constraint. Need to have a more profound review. → wait for #4600
#4601 [GUI] Add ConstraintAttachButtonSetting An example could be added, remove addAlias → keep to review
#4600 [Type] Clean and test MatSym Compilation error in MatSym, storing the dense symmetric matrices. → wip
#4591 [runsofa] Allowing multiple argv Wait for CI scene tests → then ready
#4589 [plugins] Externalize all remaining plugins Need to make a PR on the ci project before merging. → keep to review
#4588 [LinearSystem.Direct] Remove metis dependency Need to make a PR on the ci project before merging. Add fetchable mechanism (in SOFA and in ci repository) → keep to review
#4586 [CMake] Upgrade cmake_minimum_required to 3.22 Conflict to be solved and documentation to be added → ready
#4582 [Collision.Response.Contact] Mark contactId pool as thread local storage Windows compilation is broken. Might break the parrallel resolution of one single simulation (multithread plugin), to be checked. → wip
#4581 [Constraint.Lagrangian.Solver] Make problemId counter id atomic → ready
#4580 [Simulation] Tests: introduce multiple parallel simulations Wait for CI compilation → then ready
#4576 [Geomagic] Update GeomagicDriver.cpp to fire error when hd.h is not found → ready
#4575 [plugins] Externalize haptic/interface plugins Need to make a PR on the ci project before merging. → keep to review
#4573 [plugins] Externalize SofaDistanceGrid plugin SofaImplicitField requires this plugin to compile, so we need to update the cmake error to tell user to fetch SofaDistanceGrid to compile SofaImplicitField. Automatization and homogeneity should be ensured on plugins. Need to make a PR on the ci project before merging. → keep to review

SOFA PR merged within the week

13/03/2024

News

Release 23.12 is out !! --> https://github.com/sofa-framework/sofa/releases/tag/v23.12.00
SOFA America Workshop: on 30-31 May in Montreal (Canada)
- Pre-program is available
- Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France).
- Registration is open!

Technical discussions

cmake_minimum_required should be updated regarding CMake FetchContent (find or fetch mechanism → skip, see #4586
Question on the fusion of SoftRobot and SoftRobot.Inverse and of SofaPython and STLIB plugins
- SoftRobot and SoftRobot.Inverse: complex for license reasons (two distinct repositories and conda packages)
- SofaPython3 and STLIB for now stay separated for Conda.
Discuss supported plugins → https://github.com/sofa-framework/sofa/wiki/Supported-SOFA-plugins
Update in ci.yml to be done in order to publish GitHub releases for plugins
Plugin naming : our policy should now be: adding Sofa. prefix to all plugins and the suffix should be light e.g. Sofa.Metis, Sofa.CGAL, Sofa.image. This allows for extern users to understand that it is a SOFA-related code, which follows the SOFA NG format (no need to keep the Plugin keyword). Will require to also update c++ namespace.

SOFA PR review

#4552 [LinearSystem] Introduce ConstantSparsityProjectionMethod This method has a strong interest in the case of a mapping which propagates a sparse K matrix. Performance could even be more improved, looking at the cache management. Adding an example (membrane + volumetric model) → ready
#4547 [LinearAlgebra] Refactor sparse matrix product Efficient matrix product exploiting the format of constant matrices: keep the structure and update the values. The configuration of these matrices (row major or column major) changes the matrix product. Instead of manually computing the product (assuming one specific configuration), this PR uses Eigen to be agnostic of the (8-possible) matrix configuration and to become more generic. A new scalar type is introduced which includes the scalar value and its indices in the matrix product. → ready
#4544 [Project] Start dev phase v24.06 → ready
#4540 [all] Additional fixes further to v24.06 lifecycle → wait for merge of #4533 then ready
#4533 [all] Lifecycle for v24.06 (2): remove Compat Merge all depends-on → ready
#4529 [all] Fix some warnings Missing include → wip
#4523 [GUI] Remove the New/Save/SaveAs menu options → to be tested and then ready

SofaPython3 PR review

#404 fix Versioning to allow patches → ready
#384 [SceneLoader] Add a special error message handler for DeprecationWarning → ready
#383 Update readme Not needed because the pip installed package is sufficient, it is just needed to modify the CMAKE_PREFIX_PATH to add the path to the cmake files insite of the installed Pybind11. → close
#381 [GUIManager] Add SofaGLFW and SofaImgui at runtime → close
#380 [GUIManager] Add SofaGLFW and SofaImgui Add issue to externalise Qt gui from SofaPython3 and force to import it as well. The user experience aspects should be kept in mind. → close

SOFA PR merged within the week

SofaPython3 PR merged within the week

06/03/2024

News

Release 23.12 is out !! --> https://github.com/sofa-framework/sofa/releases/tag/v23.12.00
SOFA America Workshop: on 30-31 May in Montreal (Canada). Registration is open!
SOFA Technical Committee #17: on 10-12 June in Strasbourg (France). Registration is open!

Technical discussions

Discuss supported plugins → https://github.com/sofa-framework/sofa/wiki/Supported-SOFA-plugins
Update in ci.yml to be done in order to publish GitHub releases for plugins

SOFA PR review

#4560 [script] Remove temporary layer and activate closing → ready
#4554 [cmake] Remove error in Findcxxopt If cxxopts is found but not the right version, it throws a warning only and then it fetches the right version. → ready
#4552 [LinearSystem] Introduce ConstantSparsityProjectionMethod Looks fine, and impressive speed-ups are presented! → wait for #4547 (else ready)
#4547 [LinearAlgebra] Refactor sparse matrix product Significant PR, needs a careful review → keep to review
#4544 [Project] Start dev phase v24.06 Wait (PR drafted) for last cherry-picks in v23.12 to udpate changelog. Then ready. → keep to review
#4540 [all] Additional fixes further to v24.06 lifecycle → wait for #4533 (else ready)
#4533 [all] Lifecycle for v24.06 (2): remove Compat Merge all ci depends on → ready
#4529 [all] Fix some warnings Add narrow_cast → keep to review

SOFA Python 3 PR review

#403 Fix out-of-tree compilation of dependencies Let's merge this PR is MacOS compilation passes. However, tests will have to be fixed subsequently → wait for CI, then ready
#398 Add headers to the library so they're visible in IDE → ready
#396 Introduce bindings to linear system → ready
#392 Minor update of README.md → ready
#384 [SceneLoader] Add a special error message handler for DeprecationWarning Requesting update on it → keep to review
#383 Update readme Need some clarification on why pip is not working → will probably be closed
#381 [GUIManager] Add SofaGLFW and SofaImgui at runtime Need to be decided with @alxbilger and @fredroy → keep to review
#380 [GUIManager] Add SofaGLFW and SofaImgui Need to be decided with @alxbilger and @fredroy → keep to review
#372 [CI] Update ci.yml PR is neither up to date and nor relevant anymore → closed

PR merged within the week

28/02/2024

News

Lifecycle for v24.06 started
SOFA America Workshop : 30-31 May in Montreal. See all events online! Save the dates, call for presentation is coming soon!
Reminder, we migrated our chat to Discord

Technical discussions

Temporary workaround for MacOS users to use non-signed binary
GUI list through conda: at install of various packages through conda, the gui list file could be edited at each new GUI installed. But it needs to be tested since the path to the plugin_list.conf is edited using CMake variables (CMakeLists of runSofa)
If it is using the sofa-setup-actions script, the CI of plugins should be updated using the @v5
Invertible FE Model → to archive
#4459 [Sofa.Testing] Do not build Sofa.Testing if SOFA_BUILD_TESTS is OFF: Sofa.Testing should externalized in order to bring real modularization → close again

SOFA PR review

#4538 [Config] Add cxxopts cmake find module → ready
#4536 Refactor a bit the way runSofa is implementing the scenegraph colors Several points are below this PR:
- define a new design for managing colors by component
- should the color API allow for new colors
- Should Prefab be refactored in Sofa.Core ? → wip (keep only the 2-line change)
#4535 [Simulation.Core] Make TSAN pass for caduceus Have discussion on making taskSchedueler thread safe during the STC → ready
#4534 [Config] Add TSAN option Option name should be more explicit: ThreadSanitizer. Try all scene tests with this option. → ready
#4533 [all] Lifecycle for v24.06 (2): remove Compat Fix Windows compilation then ready. Remove SOFA_SIMULATION_CORE_API to prevent Windows error. → wip
#4532 [all] Lifecycle for v24.06 (1) Is aimed at being closed. → close
#4529 [all] Fix some warnings C style cast are bad. → wip
#4526 [SofaSphFluid] Externalize SofaSphFluid Add flags on the new repository, README and license should be added. → ready
#4523 [GUI] Remove the New menu option Need to remove corresponding code in RealGUI then ready. Later, remove save button → wip
#4429 [All] POC: ObjectFactory: Explicit components registration Meta module usefulness ? Maybe pass by regex in the plugin manager to include all plugin with same prefix (e.g. including Sofa.Component will include all Sofa.Component.*). One workaround to have an acceptable solution would be to pass through a static getModuleName to avoid dynamic string comparison. PluginManager is not satisfactory as the existing design of "meta-modules". ObjectFactory On the user side, RequiredPlugin Objects of concern:
- PluginManager -> is singleton the right design?
- ObjectFactory
- RequiredPlugin
- Are meta module necessary ? Create a diagram linking those various objects. → postponed
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms One unit test on a scene is failing, this does not appear as a false-positive. Should be investigated → wip

PR merged within the week

21/02/2024

News

SOFA America Workshop : 30-31 May in Montreal. See all events online! Save the dates, call for presentation is coming soon!
Reminder, we migrated our chat to Discord
We are thinking about implementing additional mechanical constitutive laws in SOFA :arrow_right: Let us know what you would expect in discussion #4499!

Technical discussions

[Prefabs] PoC will be done to better think their design
Update about CI builders: seems all fine now (first release binaries being generated). You should update your CI by using ubuntu22.04 and windows-2022 builder and use sofa-setup-action@v5. This is not yet rock solid but will be fixed in the following days. MacOS CI is in a transitive state, will be updated soon.
[Plugins] Gather external plugins configs in a same folder (proposal) #4505

SOFA PR review

#4513 [DefaultType] Extract inner classes from SolidTypes in files Missing deprecation layer (due to the move). TODO for the next PR. Move to sofa::type instead of sofa::defaulttype. → wip
#4509 [Simulation.Core] RequiredPlugin: Avoid calling loadPlugin() twice on start-up → ready
#4507 [All] Display reference name when pulling external plugins → ready
#4505 [Plugins] Gather external plugins configs in a same folder (proposal) Idea to better identify fetched and in source plugins. Better would be to externalize all plugins (except Multithreading, SofaCUDA and SofaPython3) for a cleaner understanding. → close
#4504 [Plugins] Move MeshSTEPLoader to an external repository Should be hosted under the sofa-framework organization. Add SOFA_FETCH_MESHSTEPLOADER=ON in the CI → ready
#4494 [Topology] Fix method isQuadDeulaunayOriented and its use in splitAlongPath → ready
#4490 [LinearSystem] Introduce components to map matrices Added example to illustrate the definition of MatrixProjectionMethod. As a reminder, this component by default is automatically added as a Slave → ready
#4482 [all] Apply nested namespaces Issue with CI, restart to test one last time. Test on SofaPython3 failing due to missing scipy. → CI then ready
#4429 [All] POC: ObjectFactory: Explicit components registration Remame RegisterObject as ObjectRegistrationData and add a deprecation layer. Handle the meta-module (e.g. Sofa.Component) to make sure that objects are not registered twice. ObjectFactory keeps this information but requires the PluginManager singleton. Not yet satisfied about the way we detect multiple registration of objects. Alex will take a look at it. → keep to review
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Wait for #4494 then ready → ready

PR merged within the week

14/02/2024 💕

News

We are thinking about implementing additional mechanical constitutive laws in SOFA :arrow_right: Let us know what you would expect in discussion #4499!
SOFA America Workshop : 30-31 May in Montreal. Save the dates, call for presentation is coming soon!
Reminder, we migrated our chat to Discord 💌

Technical discussions

[SofaGym] Use several SOFA simulations in python: 2 SOFA is parallel can run but not more using os.fork. Alex experienced C++ parallelism but less of python. tools/sofa-launcher could be useful to launch several well-separated SOFA. A meeting with Samuel will be schedueled.
[Prefabs] Discussion incoming this week
The process of actually updating the builders started. The new builders should be up and running by the end of the week.
The PR#4496 [Config] POC: enable assertions even in release mode shows errors in scene tests coming from asserts that are not usually tested in release mode. Those error should be fixed in the following weeks.

SOFA PR review

#4498 Update badge README.md → ready
#4495 [Simulation.Graph] Move SimpleApi into its own library → ready
#4494 [Topology] Fix method isQuadDeulaunayOriented and its use in splitAlongPath Failing test to fix. → wip
#4491 [Helper] PluginManager Fix test in debug → ready
#4490 [LinearSystem] Introduce components to map matrices Goal is to accelerate computation for cases where J (the mapping jacobian) is dense (e.g. MOR). In the future : develop new method for mappings for different usecases (e.g. ConstantSparsityPattern or Multithread). TODO: Add a scene to show the usage & use appropriate class names → then ready
#4487 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering → ready
#4486 [Config] CMake: fix warning about upper/lowercase for Difflib Testing the reactivation of the regression tests on windows → ready
#4485 [all] Convert some loops to range-based Need some more careful review before merging. → keep to review
#4484 [image] Fix compilation on Windows Ambiguity related to CImg code. → ready
#4482 [all] Apply nested namespaces Need to revert modifications on Indicators.hpp → then ready
#4450 [LinearSolver.Direct] Fix metis dependency Need to update the fetch to checkout the right branch on our fork (5.1.0) → keep to review
#4429 [All] POC: ObjectFactory: Explicit components registration We must first deprecate old way then modify all plugins to follow this new way of doing. The full propagation of the new API must be done before merging it. TODO: add warning at runtime → keep to review
#4326 [SofaAssimp] Fix the FindAssimp.cmake Last core-dev review then ready → to review
#4316 [SofaSPHFluid] Add option in ParticleSource to add/remove random values in the particles generation. Remove noise for CI scenes → ready
#4240 [all] Replace tinyxml by external tinyxml2 Last core-dev review then ready → to review
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Depends on #4494 fixing the isQuadDeulaunayOriented method. Then this will fix the failing regression test → then ready

PR merged within the week

07/02/2024

News

Feedback from the Sofa-Slicer integration project at Slicer Project Week.

Technical discussions

New plugin tree instanciations, pr to review : BeamAdapter and SoftRobots → Need to add these requirements to the doc itself to officialize this.
Regression tests not working on Windows because the exe cannot open libPython38.dll although the test scenes work → Investigate the path at the execution of Regression_test.exe and runSofa.exe to see if there are any differences.
Issue #393 on SofaPython3 linking on libPython → Try to use an intermediate lib that link to SofaPython3 and libPython that load libPython first bootstraping the loading. This is heavy and should be transparent for users and may affecty every distribution.

SOFA PR review

#4477 [Core][LinearSolver] Introduction of ordering method components Modularization of the ordering method in a component allowing to remove Metis dependency in a plugin. → ready
#4471 [Testing] Externalize (find_package() or fetch) googletest/gtest Remove gtest sources and update the version of this library. → ready
#4450 [LinearSolver.Direct] Fix metis dependency It overrides the PR 4266, at the end we want to. Problem with install (copying of tinyXML2 and metis) should be discussed later on. → keep to review
#4429 [All] POC: ObjectFactory: Explicit components registration Waiting for 4466 and 4464, wait for rebase and decide if the new design is good for all of us. Would require to add a documentation before the merge. → keep to review
#4428 [LinearSystem] Detect changes in sparsity pattern when using ConstantSparsityPatternSystem The PR introduces a mechanism avoiding crashes when the pattern changes by ignoring new matrix entry, resulting in an explicit formulation of those new forces. This requires to monitor the pattern at each timestep which takes a lot of time : this is indeed only for debugging purposes. → ready

PR merged within the week

31/01/2024

News

Project on integrating SOFA into Slicer has been accepted at the Slicer Project Week. SOFA will be represented there!
Migration from Gitter to Discord : share your feedback
New paper comparing SOFA for sim-2-real gap in robotics: https://arxiv.org/abs/2310.09543

Technical discussions

Prefab discussion ongoing
Issue #393 on SofaPython3 linking on libpython
- #394 proposes:
  - remove pybind embed in CMakeLists of SofaPython3
  - use the modern command pybind (pybind_add_module) which was reimplemented in SOFA (see SofaPython3Tools.cmake).
- however, the change could be applied at plugin initialization, to early manage the libpython loading

SOFA PR review

#4471 [Testing] Externalize (find_package() or fetch) googletest/gtest PR should be tested: e.g. compile SP3 out-of-tree with an install version of SOFA. To be backported and tested at released → keep to review
#4469 [All] CMake: Remove deprecation warnings → ready
#4467 [Testing] Deprecate BaseSimulationTest::importPlugin → ready
#4466 [Helper] PluginManager: Check symbol (real) location and avoid calling wrong entrypoint (Mac/Linux) See #4464 discussion → ready
#4464 [Helper] PluginManager: testing loading a plugin with a dependency on an other plugin When a plugin depends on another plugin, and when the former does not define some plugin symbols, the PluginManager seeks for these symbols in the dependencies. See issue #4462 here. This PR along with #4466 → ready
#4459 [Sofa.Testing] Do not build Sofa.Testing if SOFA_BUILD_TESTS is OFF Link with gtest was performed even if SOFA_BUILD_TESTS is off, this PR prevents this. However, we might rather need to distinguish two cases: build the tests vs the test API (Testing). #4471 should be sufficient on conda but another → wip, to possibly find a CMake alternative
#4450 [LinearSolver.Direct] Fix metis dependency Replace #4266. find_package and if not existing use the fork 5.2.1 created by Paul. Due to the conda community timing, we might have to backport the fork to the 5.1.0 → keep to review
#4429 [All] POC: ObjectFactory: Explicit components registration Test of int operator depreciation (not yet committed). Wait for the other PR on plugin configuration → keep to review

PR merged within the week

24/01/2024

News

Project on integrating SOFA into Slicer has been accepted at the Slicer Project Week. SOFA will be represented there !
Ubuntu builder are finished. Windows still pending
SOFA America Workshop may occur early June: what about STC#17 dates?

Technical discussions

Migration from Gitter to Discord
Issue #393 on SofaPython3 : Conda binaries are linked statically with libpython, which causes segfault on MacOS when loading another lib that is dynamivally linked to libpython. This is the case of libSofaPython3 linking with pybind11::embed (the python interpreter) which it self links to libpython.
- Good first idea seems to be decouple the library and extract the 'interpreter' part in order to remove the dynamic link
- A quick fix would be to compile on mac with the option -undefined dynamic_linking and force the libpython loading with DYLD_INSERT_LIBRARIES=$CONDA_PREFIX/lib/libpython3.10.dylib ./runSofa libpython with runSofa. The PR #394 can be a temporary fix/hack using pybind
- Too many RPath defined in Bindings, this should be fixed in a later PR
METIS version distributed by conda and the reason it is not fit for our package (GKRand, segfault): more recent versions of 5.1.0 have been tested to be compatible with conda but not GKRand and 5.1.1 fails. More recent versions are not available on conda-forge :arrow_right: we use a find_package and remove the embeded METIS version and rely on the 5.1.0 without GKRand and wait for the 24.06 to pluginize METIS-based code

SOFA PR review

#4450 [LinearSolver.Direct] Dynamically link with embedded metis Need to add the find (v5.1.0) of fetch (our fork) mechanism. → keep to review
#4448 [All] Add GIT_REF option for external plugins → ready
#4445 [GitHub] Add new actions to connect GitHub and Discord Preparation for the SOFA Discord channels migration. Add many action that send insights messages on the discord server → ready
#4443 [StateContainer] Accelerate copy of MatrixDeriv for CRS matrices Copy is now faster, especially with large mapped matrices. copyToBaseMatrix now takes about 2ms. This could be improved again for MOR were the mapping jacobian is constant so no copy is needed. → ready
#4442 [LinearAlgebra] Factorize value filtering CompressedRowSparseMatrixMechanical includes a filterValues() function which is templated. CompressedRowSparseMatrixMechanical.cpp defines 4 specialization of this function. Now everything is factorized. The object is that the filterValues(TMatrix& ...) handles only CompressedRowSparseMatrixMechanical but we would like also the CompressedRowSparseMatrixConstraint to be supported → ready
#4430 [SofaCUDA] Generalize the use of MessageDispatcher in SofaCUDA → ready
#4429 [All] POC: ObjectFactory: Explicit components registration Still need to think about the compatibility/depreciation layer. The next PR about it should suggest this layer. Remove the static boolean registered and remove compatibility for the component MappedObject. To be rediscussed next week → keep to review
#4428 [LinearSystem] Detect changes in sparsity pattern when using ConstantSparsityPatternSystem Still one unit test failing → rebase and keep to review
#4395 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering Document the plugin ordering to make it easier to apply it to new plugin creations → to be closed and restarted in a fresh PR
#4370 [LinearSolver.Direct] Introduce other ordering methods in SparseLDL through Eigen A test was failing and AMD was failing → ready

PR merged within the week

17/01/2024

News

Project on integrating SOFA into Slicer has been proposed to Slicer project week
Preparation of the upcoming release v23.12 started
- Builder Windows: template being set up :
- might need to update METIS version https://ci.inria.fr/sofa-ci-dev/job/sofa-custom/CI_CONFIG=ubuntu_gcc,CI_PYTHON3_VERSION=3.10,CI_TYPE=release/7632/testReport/ --> cette compil est faite avec metis 5.2.1 (branche creee sur notre repo.) parce que la 5.1.1 segfaultait malgré les modifs d'Alex. (Oui c'est build avec GKRand à ON)

Technical discussions

[All] POC: ObjectFactory: Explicit components registration #4429
- In an effort to include SOFA into a browser, a compilation of SOFA as a static library was needed. Several issues were faced : one of them being the RegisterObject functions (ObjectFactory). There was therefore the need to remove singleton like ObjectFactory and to explicit component registration
- Static compilation would be good anyway
- Choice is made to go further with Alex's first suggestion and refactoring of registerObject could be done later: factory triggers the commit → another pass will be done by Fred
[plugins] Update license to LGPL of remaining files #4425

SOFA PR review

#4436 [VolumetricRendering] Fix crashes in batch mode → ready
#4430 [SofaCUDA] Generalize the use of MessageDispatcher in SofaCUDA Wait for the scene tests then ready → keep to review
#4429 [All] POC: ObjectFactory: Explicit components registration See above discussion → keep to review
#4428 [LinearSystem] Detect changes in sparsity pattern when using ConstantSparsityPatternSystem One last test in MatrixLinearSystem_test is failing and last review needed. Else the concept works. → keep to review
#4425 [plugins] Update license to LGPL of remaining files → ready
#4410 [All] Rename license file into LICENSE-LGPL.md to follow github repository rules → ready
#4395 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering Discussions lately last week converged to an ideal format of a plugin described here → keep to review

PR merged within the week

10/01/2024

News

Agenda 2024 is released! Save the dates!!
- Next STC#17 will be held in Strasbourg on June 10-12
- SOFA Week 2024 will be held in Lille on Nov 25-29
Preparation of the upcoming release v23.12 started
- Builder Windows: template being set up

Technical discussions

Questions on the python find_package in SofaPython3
- CMakeLists.txt : the variable PYBIND11_PYTHON_VERSION is declared and only used here in place of the Python version --> why not use PYTHON_VERSION.
- It might also be usefull to add the parameter EXACT that'll help force the python version to one (this is cumbersome on MAC OS where it is current to have multiple python version installed)
Licenses: some remaining GPL codes remain mostly SceneCreator and in SofaTest. What should we do? Pass it to LGPL or externalize (see #4416)
NanoBind an interesting alternative to pybind
When using constant parsity pattern, a check can be added when inserting to make sure that the pattern is respected. This test has a cost
- It could be conditioned though a data (checkIndices already existing)
- Ideas on the use of flags set by downstream components if their pattern has changed can be more efficient
- Doubt about the interest of the block3x3 optimization case

SOFA PR review

#4422 [sofaInfo] Fix compilation and behavior Depends on PR on ci → ready
#4420 [All] Fix subplugin regression tests Create issue to rethink the way it is done: maybe centralize the regression-tests files in Regression plugin. → ready
#4410 [All] Rename license file into LICENSE-LGPL.md to follow github repository rules Wait for removing of remaining GPL files then ready → keep to review
#4396 [Type] Refactor Mat → ready
#4395 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering Add symetry and remove entrelacing folders. A dedicated discussion took place, we came up to this proposal → keep to review
#4370 [LinearSolver.Direct] Introduce other ordering methods in SparseLDL through Eigen Create issue for AMD : not compiling and correct the unit tests. → keep to review
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Add comments → ready
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms → keep to review

PR merged within the week

03/01/2024

News

Agenda 2024 is released! Save the dates!!
- Next STC#17 will be held in Strasbourg on June 10-12
- SOFA Week 2024 will be held in Lille on Nov 25-29
Preparation of the upcoming release v23.12 started

Technical discussions

Issue raised in discussions #4281 about update of anisotropic inertia matrix for rigids

SOFA PR review

#4410 [All] Rename license file into LICENSE-LGPL.md to follow github repository rules Changed the license file to allow github to display the license in the about part of github. This would add problems with the gui and/or the plugins that are not in LGPL. Still requires some discussion. → keep to review
#4398 [VolumetricRendering] Fix the compilation → ready
#4396 [Type] Refactor Mat PR is fine, just a change had to be done in Multithreading FF. Alex's review would be needed → keep to review
#4395 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering New suggestion has been made, conclude about it with Alex → keep to review
#4389 [Constraint.Lagrangian.Solver] Fix assert in GenericConstraintSolver → ready
#4370 [LinearSolver.Direct] Introduce other ordering methods in SparseLDL through Eigen Still one unit test failing and reviews added → keep to review
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Still one unit test failing → keep to review

PR merged within the week

20/12/2023

News

Agenda 2024 is released!
- Next STC#17 will be held in Strasbourg on June 10-12
- SOFA Week 2024 will be held in Lille on Nov 25-29 Save the dates!!
Preparation of the upcoming release v23.12 started

Technical discussions

GitHub Discussions
- Stale action running
- Centralized for all plugins (except SoftRobot for now)
- Add links to the proper discussion category in each plugin README
Metis upgrade to 5.2.1

SOFA PR review

#4395 [VolumetricRendering][SofaCUDA] Move CUDA files related to VolumetricRendering This begins a big refactoring of the SofaCUDA plugin. Externalizaing the cuda-based code of external plugins into the plugins themselves. This is a first suggestion, that will then be applied to the rest of the code. Alex wants to continue thinking about a hat plugin (having the cuda plugin inside the cpu plugin) to ease the user comprehension of what is compiled and where is everything.
→ wip
#4390 [SofaSimpleGUI] Fix calls to deprecated functions → ready
#4389 [Constraint.Lagrangian.Solver] Fix assert in GenericConstraintSolver An assert in the creation of the MultiVecCoordId appeared in Debug when constraints were not solved in velocity. See if an optional pointer would better work than a unique one. → keep to review
#4388 [Topology.Mapping] Edge2QuadTopologicalMapping: use States directly The condition used to know if the state is mechanical to know if ApplyJ has to be called seems weak. An issue will be opened. → ready
#4386 [github] Add new action checking PR age → ready
#4370 [LinearSolver.Direct] Introduce other ordering methods in SparseLDL through Eigen Failing test in StaticSolver. Need to investigate and test performances. → wip
#4362 [Topology.Container.Dynamic] GeometryAlgorithms: support generic State → ready
#4361 [Topology.Mapping] Edge2QuadTopologicalMapping: use Links for required QuadSet components → ready
#4360 [Core] BaseMapping: link mapConstraints to the "meta-alias" isMechanical → ready
#4357 [CImgPlugin] Add fetchable CImg and remove embedded cimg → ready
#4356 [Config] CMake: support interface-type target for install macro → ready
#4334 [Core] POC introduction of iterators on scene graph Work on merging BaseContext and BaseNode should first be addressed since the iterator would need to be able to iterate on both, but they have a different inheritance. → suggest to close
#4333 [Core] Refactor VMultiOpEntry → wip
#4309 [Constraint.Projective] Implement applyConstraint from new matrix assembly API Renamed data got reverted, now ready → ready
#4302 [Constraint] Make name of constraints more explicit Constraints (Lagrangian and projective) got renamed. A new feature has been added to define in the ComponentChange renamed components. A check is added in the ObjectFactory to check whether the class is renamed and if so it creates the class with a warning. → ready

PR merged within the week

13/12/2023

News

Preparation of the upcoming release v23.12 started
Welcome to new InfinyTech3D member : Ronak Molazem. She also joined the SOFA dev team !

Technical discussions

GitHub Discussions
- Reordering upcoming to welcome dedicated area for Community Help on Plugins
  - Question on the case of SoftRobot
  - Question on regrouping InfinyTech3D plugins (Unity ?)
- #4348 [github] fix stale action --> ready to update all discussions
Test SoftRobots on CI with scene examples/tutorials/Tripod/myproject/step7.py and it will be fixed by adding the serial python package on the new builders
Auto differentiation of simulation in SOFA: roadmap defined at the DEFROST team

SOFA PR review

#4357 [CImgPlugin] Add fetchable CImg and remove embedded cimg → to review
#4356 [Config] CMake: support interface-type target for install macro Work to go for a fetch of CImg instead of using the heavy embedded cimg. However, this is an interface and it requires some work with not-recent versions of CMake. → to review
#4355 [LinearAlgebra] Factorize template specializations of filterValues in CRS matrix → ready
#4354 [GUI] FIX QDocBrowser To be tested in the compilation (hugtalbot) → then ready
#4352 [LinearAlgebra] constexpr if statement when possible → ready
#4351 [LinearAlgebra] Use class template argument deduction with MatrixExpr → ready
#4350 [Simulation.Core] BaseMechanicalVisitor: Deprecate rootData → ready
#4348 [github] fix stale action → ready
#4334 [Core] POC introduction of iterators on scene graph POC is good, doesn't compile and allow to not rely on visitors, but still rely on a need of a global conductor (not entirely "visitor-less" as we might think of). The mechanism is of interest for some core components to make the call of their methods more explicit. → wip
#4333 [Core] Refactor VMultiOpEntry The code doesn't compile rigth now and the goal is not yet reached. A question arised on the performance impact regarding the complexity : is it really worth it ? The cuda version may be worth it actually. → wip
#4328 [Simulation.Core] Remove usage of ill-used nodeData in MechanicalGetNonDiagonalMassesCountVisitor and MechanicalVDotVisitor → ready
#4326 [SofaAssimp] Fix the FindAssimp.cmake Failing on Windows, will work on future builders → wait for new builder and keep to review
#4324 [All] Changed message for scene check Wait for #4302 → wait for new builder and keep to review
#4309 [Constraint.Projective] Implement applyConstraint from new matrix assembly API Review to be taken into account → wip
#4302 [Constraint] Make name of constraints more explicit UnilateralInteractionConstraint will become UnilateralLagrangeConstrainst. PR seems ready. Issue with the SofaConstraintSolver_matrix_access_test_matrix_access, check aliases with templates → to review (quickly)
#4266 [all] Externalize metis Add fork of METIS to ease the process of building/packaging → wait for new builder
#4240 [all] Replace tinyxml by external tinyxml2 → wait for new builder
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Need to talk to Christian → wip

PR merged within the week

06/12/2023

News

SOFA consortium will be at Inria’s Programme santé numérique doing a demo during the SOFA-dev meeting, Alex will be your host
New hire at InfinyTech3D

Technical discussions

Haption plugin: no longer maintained. Could be externalized. In the meantime, we could make some changes so it can be compiled on the CI (to maintain compatibility with SOFA) using a fake virtuoseAPI header. Probably same conclusion with Xitact.

SofaPython3 PR review

[#383] -> More information requested
#381 [GUIManager] Add SofaGLFW and SofaImgui at runtime → need more time to review. Review requested from the consortium
#380 [GUIManager] Add SofaGLFW and SofaImgui → need more time to review. Review requested from the consortium
#379 [Environment] Use standard python paths → ready
#376 [all] Fix warnings → Changes requested
#375 [Environment] Fix test for plugins envvars → ready
#372 [CI] Update ci.yml → Question if the PR is still relevent?
#352 [doc] Rebuild the sphinx documentation for SofaPython3 → WIP because of merge problems. @hugo BACK TO WORK!!!

SOFA PR review

#4341 [ODESolver.Backward] Convert double to SReal in NewmarkImplicitSolver →
#4338 [Haption] Partially fix the plugin →
#4334 [Core] POC introduction of iterators on scene graph → compilation failing but the feature seems interesting
#4333 [Core] Refactor VMultiOpEntry → compilation failing but the feature seems interesting
#4330 [image] image_gui to compile with Qt6 → ready. Consider using Qt6 on the CI
#4328 [Simulation.Core] Remove usage of ill-used nodeData in MechanicalGetNonDiagonalMassesCountVisitor and MechanicalVDotVisitor → changes requested: convert SReal to an integer
#4327 [Simulation.Core] Deprecate LocalStorage feature → ready
#4326 [SofaAssimp] Fix the FindAssimp.cmake → wait for new builders
#4325 [ODESolver] Fix compilation with SOFA_NO_VMULTIOP → ready
#4324 [All] Changed message for scene check → Conflicts, and the base PR must be merged first
#4316 [SofaSPHFluid] Investigate CI failing regression → Still in WIP
#4309 [Constraint.Projective] Implement applyConstraint from new matrix assembly API → Depreciation requested
#4303 [image] Merge CImgPlugin into image → discussion on the CImg dependency. Should we move the dependency out of SOFA instead of hosting the source code?
#4302 [Constraint] Make name of constraints more explicit → Still WIP
#4301 [SolidMechanics] Implement buildStiffnessMatrix for PolynomialSpringsFF → ready
#4296 [Type] Refactor Vec → ready. Another PR is requested to restore some performances on matrices
#4268 [GitHub] Add a python-based action managing discussions → postponed
#4266 [all] Externalize metis → wait for new builders
#4240 [all] Replace tinyxml by external tinyxml2 → wait for new builders
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance → Still need more information in the rigid case using zero compliance

PR merged within the week

29/11/2023

News

SOFA consortium will make a demo at Inria's Programme santé numérique on Dec 6th (Paris Santé Campus)
Preparation of the agenda 2024

Technical discussions

SOFA integration into 3D Slicer: ongoing discussion with core developer team. Better define what is targeted as an integration. → We must be careful of the boundaries of such integration to insure that it stays stable (only projective, only volumetric mesh etc...). Mays also be used for visualization or registration.
Question on Jenkins maintenance on Inria's side. They question the use of it given their gitlab solution, but it is not a solution for us because we need to stay on github. May require at some point to only rely on github actions.
Metis compilation for windows : maybe compile/use both version 64/32 regarding the SReal type
SolidTypes : includes several pieces of codes like Frame, Transform

SOFA PR review

#4320 [Collections] Remove reference to non-existing SofaSimulation → ready
#4319 [SofaCUDA] FIX compilation SofaCUDA along with SparseGrid with Cuda12 → ready
#4317 [LinearSystem] Speedup computation of Jacobian matrices When there are interaction forcefields, those forces can be applied to multiples mechanical states. But when there isn't multiple mechanical state, the jacobean computation can be speedup by not computing the same jacobean twice. Other optimization will come in the future (particularly for MOR). → ready
#4314 [Core] Minor clean of DefaultAnimationLoop Cleaning codes that were factorized from the AnimateVisitor but implementing useless Lagrange constraints in the DefaultAnimationLoop → ready
#4302 [Constraint] Make name of constraints more explicit Changes were not taken into account and this will be done further to v23.12 → wip
#4301 [SolidMechanics] Implement buildStiffnessMatrix for PolynomialSpringsFF Change timer name, possibly change m_dimension to Deriv::total_size and update license header → then ready
#4296 [Type] Refactor Vec → wait for #4270
#4295 [SolidMechanics.Spring] Implement buildStiffnessMatrix for TriangularBendingSprings → ready for 24.06
#4294 [Sofa/MechanicalLoad/TrianglePressureForceField] Add buildStiffnessMatrix to TrianglePressureForceField Comments not taken into account → back to wip
#4291 [all] Fix warnings Revert change of data nbThread to keep it as int to handle negative values (corresponding to the number of cores minus this value) → wip
#4290 [Sofa.GUI.Qt] Add cmake module for QGLViewer → ready
#4270 [All] ColorMap uses RGBAColor → wait for #4263
#4263 [Type] RGBAColor: remove inheritance from type::fixed_array and use std::array to store its components → ready for 24.06
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Ask for information about zero compliance in rigid case → keep to review

PR merged within the week

22/11/2023

News

Feedback from SOFA Week 2023 & STC #16
- Awards:
  - Ask for last release compatibility or a demo video
  - Ask for some slide upon inscription to have some insights on what it does
  - Add a "level of expertise" rating for the jury, for each contribution, to ponderate the grade.
- Symposium:
  - Be more strict on registration timeline and abstract review to guaranty quality
  - Last minute registration for presentation will not be allowed anymore (add dead line for pres inscription)
  - Have more break time to talk and see the booths
  - Add timer to keep a hand on the clock
  - Have a last organized drink on site after the conference to debrief and cool down a bit (instead of more break time)
- STC:
  - No question when presenting to keep the clock
  - For last six month maybe keep the presentation for the consortium --> only presentation of the next six months
  - Prepare and identify a bit more the roadmap subject to clearly define the person in charge of the roadmap
  - The sprint time is maybe not sound because of the lack of good dev tool (laptop), we cannot really make ground changing PRs. May be good to define more doable issue beforehand. It should maybe stay a place for discussion of technical subject, to be well defined (e.g. conda package)
Late June 2024: Deformation in Robotics Summer School

Technical discussions

Finalize discussion on SOFA Conda packages
- The following division has been agreed upon:
  - sofa-core (including the core that we said + the batch runSofa)
  - sofa-python3 (+ stlib)
  - sofa-beamadapter
  - sofa-modelorderreduction
  - sofa-softrobots (direct and inverse robotics)
  - sofa-cosserat
  - sofa-gl
  - sofa-gui-qt
  - sofa-gui-glfw (glfw + imgui) --> not prioritary
  - sofa-advanced (with all the rest) --> not prioritary
- In SOFA.Gui a part of the code includes component/common which could be part of sofa-core
Regression tests should be fixed
- BeamAdapter:
- SPHFluid: references should be updated

SOFA PR review

#4302 [Constraint] Make name of constraints more explicit Discuss on InteractionLagrangian with hugo and remove all the ProjectTo on projective constraints. Add info on the name changing in dedicated file Sofa/framework/Helper/src/sofa/helper/ComponentChange.cpp. → wip
#4301 [SolidMechanics] Implement buildStiffnessMatrix for PolynomialSpringsFF Launch test to check regression → then ready
#4296 [Type] Refactor Vec Wait for rebase, tests and full build → keep to review
#4295 [SolidMechanics.Spring] Implement buildStiffnessMatrix for TriangularBendingSprings Use of the AsyncSparseLDLSolver prevents this scene to be used as a regression but highlights the use of this asynchronous direct solver → ready
#4294 [Sofa/MechanicalLoad/TrianglePressureForceField] Add buildStiffnessMatrix to TrianglePressureForceField Discrepancy between disabling and deprecating. The PR could be split in two: add the buildStiffnessMatrix and deprecated the data for non-constant forces (this latter topic should re-discussed) → wip
#4291 [all] Fix warnings Check scene errors → wip
#4290 [Sofa.GUI.Qt] Add cmake module for QGLViewer Plugin image fails, investigate qt.config or cmake.in → wip
#4270 [All] ColorMap uses RGBAColor Propagate consistency, CI says ok. → wait for #4263 ready
#4263 [Type] RGBAColor: remove inheritance from type::fixed_array and use std::array to store its compRGBAColoronents → ready
#4258 [LinearSolver] Remove CSparse-based linear solvers Unit test are failing, probably due to the mis-use of ci-depends-on. CMake version in the plugin should be updated → waiting for tests, then ready

PR merged within the week

None (too busy discussing at the Technical Committee)

15/11/2023

❌ No meeting due to the SOFA Week 2023!

08/11/2023

News

🚨🚨🚨 Last week before the SOFA Week 2023🚨🚨🚨
Agenda of the SOFA Technical Committee #16 will be presented
Next July 2024: Deformation in Robotics Summer School

Technical discussion

Use of vcpkg or conan for external libraries (or simple compilation for the CI)
- one or the other is more of a guess
- common work (between olivier and the consortium) will append after the sofa week to speed up the release of the ne ci environement and the binaries

SOFA PR review

#4274 [SofaCUDA] Dont use both version of cublas (legacy or v2) → ready
#4270 [All] ColorMap uses RGBAColor → wait for #4263 and ready
#4268 [GitHub] Add a python-based action managing discussions Test it internally → then ready
#4266 [all] Externalize metis The metis package available on conda is built without the GKRAND option which improves the results. So it would require to install it differently, which apparently does not garantee to have the same results. May be fixed by using a mechanism of the type find or fetch but compatible with CMake 3.22 (same as what is done for cxxopt). But this will work only if there is one plugin dependent to metis. Eigen could be a source of inspiration → keep still to review
#4263 [Type] RGBAColor: remove inheritance from type::fixed_array and use std::array to store its components The PR lacks some features previously enabled by the fact that it inherited from fixed-array. Those features can be added later if needed (such as multiplication or division by a scalar). Update lifecycle versions and reply to reviews. → then ready
#4258 [LinearSolver] Remove CSparse-based linear solvers Solver replaced with the Eigen LLT. Save the previous scenes in the new plugin. → wip
#4257 [all] Externalize nlohmann_json dependency with find or fetch mechanism Without the find or fetch mechanism (replaced by a find_package + package manager), it may not make sense anymore → close
#4240 [all] Replace tinyxml by external tinyxml2 Wait for new CI builders → keep still to review
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Factorize the boiler plate code in traits (sofa::type). In rigid cases, is this normal to have zero compliance? → wip

PR merged within the week

01/11/2023

❌ No meeting due to the feast of All Saints (French day off). See you next week for the last SOFA dev meeting before the SOFA Week 2023!

25/10/2023

News

🚨🚨 3 weeks before the SOFA Week 2023🚨🚨 Register and join the force ⚡
Training session on ModelOrderReduction plugin took place. Request your own anytime!
Next sessions will be held on webex https://www.sofa-framework.org/sofa-dev-meeting
MacOS releases for 23.06 has been generated!

Technical discussions

Some installation isssues
- SOFA on MacOS due to Apple certificate
- Caribou: Paul will propose an install script
Roadmap of the conda package
- new versions of libraries are needed (e.g. tinyxml)
- this needs the find_or_fetch feature, therefore an upgrade CMake >= 3.24 -> wait for the 23.12 release, which should be performed as soon as possible early December
- csparse: we said il last meeting that it could be totally take out of the core. Alexandre will deal with it.
- Json dependency on AdvancedTimer (header only): make it find_or_fetch or remove it? Olivier already made a PR implementing this mechanism but we could remove it totally for the next release
- add a mechanism making this find_or_fetch mechanism optional
Sort issues in preparation of STC#16
On the timers we want to add CMake option to have the choice between:
- No time
- Tracy
- Advanced timer
- Tracy + advanced

SOFA PR review

#4256 [example] Speedup TorusFall with parallel inverse product → ready
#4255 [LinearSolver] Implement parallel inverse product for all linear solvers Sometimes SparseLDL is more efficient sometime it's eigen. Need some try to know which one is the best one. May impact the CUDA solvers for Hadrien. → ready
#4253 [LinearAlgebra] Support 6x6 matrices accumulation in BaseMatrix Add issue to deprecate the MatrixX typedef and replace in all the code → ready
#4251 [Type, Helper] Remove unused __STL_MEMBER_TEMPLATES parts → ready
#4248 [LinearAlgebra] Speedup accumulation on BTDMatrix Tested by Fred and there is indeed a speedup on Windows but stangely not on Ubuntu. → ready
#4242 [Topology] Check indices out-of-bound in TriangleSetTopologyContainer Maybe the problem is wrongly identified. This may be due to using a wrong component to construct the SubsetTopology. May be fixed by using a SubsetTopologicalMapping. → keep to review
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Ci scene tests still don't work, investigate why. → wip

PR merged within the week

18/10/2023

News

🚨 Less than a month before the SOFA Week 2023🚨 Make sure you registered!!!
Felix Vanneste is back in the Defrost team to work on the ModelOrderReduction plugin
Next sessions will be held on webex https://www.sofa-framework.org/sofa-dev-meeting

Technical discussions

The configuration/version of the OS and associated librairies should be updated on the CI : the default rule is use the current ubuntu ditribution version (the one shipped with apt). But the version can be upgraded locally when required and not breaking
- Future requiremnt will be CMake >= 3.24
- Update to a new version of MSVC 2022
- This will be widely discussed at the STC#16
Regression plugin failed running scene from external plugins due to path issues (e.g. BeamAdapter will failed as long as this is not fixed)
CI minimal configuration should now include the Multithreading plugin
New SOFA main scene has been presented by Paul: now optimizing it
- A bit disapointing in term of perf regarding the number of object. May be good to show the number of constraints in real time and/or show mor objects (little logos)
- May require to ship BeamAdapter with SOFA
- Paul will release his plugin contining the scene
Alexandre attempted to assemble matrices faster and shared his feedback
- Mechanical contribution to a matrix a done in two steps : computation then assembling (insertion in non-neglectible in term of computation time)
- The idea was to do the insertion in a dedicated asynchronous thread → forced to add an intermediate queue to store local contribution and insert in a lock-free way
- Contribution computation is sped up with this but the queue reading (depilation) takes a lot of time leading to no speed up at all

SOFA PR review

#4242 [Topology] Check indices out-of-bound in TriangleSetTopologyContainer The test is of interest. But the resulting behavior should be changed. It would require to put the component state to invalid ? Wait for Erik expertise. → keep to review
#4240 [all] Replace tinyxml by external tinyxml2 Need the find or fetch mechanism otherwise the PR will not work on the CI. → wip
#4238 [all] Fix warnings Change C-style cast into C++ cast (narrow_cast) than ready → keep to review
#4236 [LinearAlgebra] Robustify accesses to empty matrices Paul will test the perf, else use isInvalid then ready → keep to review
#4234 [Mapping] add scale to rigid mapping to scale the initial mapping Change too specific (done as an example for a user), PR will be closed → closed
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Scene test failing, Erik is notified → wip

PR merged within the week

11/10/2023

News

Are you already registered? SOFA Week 2023 registration is compulsory to join us in Paris

Technical discussions

Now a merge option in PR on GitHub More rigorous and avoids problems with master. We need to do it in order to not do it multiple times. Always merge master on the branch and not rebase: don't lose the history. If this system becomes too blocking in terme of testing, consider modifying the CI (remove master compilation and only relly on the nightly build because each commit on the master branch will be tested before the merge) ?
#4221 Use of embedded external dependencies Conda integration : Request to clean up external SOFA dependencies linked statically. For header only libraries -> find or fetch mechanism (if not present in the environmenet, its sources are fetched and compiled by us) For static libraries -> make them shared Cas particuliers:
- New mat : take out the plugin to make it stand-alone, so as not to lose the work but no longer include it.
- miniFlowVR : also to take out
- json nlohmann : in the long term remove this dependency
- Tiny xml : find or fetch (in the long term isolate the feature and 'find or deactivates')
- cspare : sparseLDL implements nearly everything it uses -> no real dependency on cspare. But other lesser-used objects depend on it, and we could take them out.
- Metis : no need to worry about 'finding or fetching' as the embedded version is up to date.
Regression tests on windows are not launching but it will be fixed quickly.

SOFA PR review

#4227 [SofaCUDA] Move cuda GUI dependent code Strange to have to look for cspare because it is shiped with CUDA. → ready
#4226 [DetectionOutput] New: added barycentric coords Provide an example/context (plugin using it) of use to see the interest of the contribution. Still alot to do to integrate it in a mor standardized way to be more generic regarding the type of element. Would need unit tests. → wip
#4220 [LinearSolver.Direct] Better distribution of tasks among threads → ready
#4219 [CollisionModel] New: added collision layer property Provide an example/context (plugin using it) of use to see the interest of the contribution. See how he handles differences in groupe/layers. This might remplace the group mechanism but would require to be able to have have multiple layers. Add unit tests → wip
#4213 [Constraint.Lagrangian.Solver] Another step to factorize both constraint solvers Factorise code between GenericConstraintSolver and LCPConstraintSolver. LCP is important to keep because it converges more quickly and is a bit faster for only unilateral constraints. Test performances then ready → keep to review
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Take changes into account → wip
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Fix compilation then ready → wip

PR merged within the week

04/10/2023

News

SOFA Week 2023: first registered participants are here, book your seats!
Enjoy the new plugin lists online: https://www.sofa-framework.org/applications/plugins/
You like checking performances? Discover Alex's integration of Tracy

Technical discussions

Topological changes: current implementation by InfinyTech3D (higher level like: split a triangle in 2, split a triangle in 3)
- **SetGeometryAlgorithms: are the only components accessing both the topology and the dofs. It already implements several topological methods
- an additional folder will be added in Sofa.Component.Topology.Container.Dynamic including all these files/header
Conda package update:
- Full review received on the PR on conda-forge: management of linking with static libraries, all external projects not header-only should be used through associated conda packages
- restore the linux support: solved!
- MacOS failure: Fatal Python error: PyMUTEX_LOCK(gil->mutex) failed
Sort STC#16 labels
CI: set up a new Ubuntu v22.04 LTS builder. Question came about the library versions: homogeneize all versions Linux/Mac/Windows

SOFA PR review

#4213 [Constraint.Lagrangian.Solver] Another step to factorize both constraint solvers Need more time to review the code → keep to review
#4210 [all] Fix mismatch on explicit template instantiations → ready
#4205 [Lagrangian.Correction] Add callbacks to check zero compliance Suggestion to take into account, then ready → keep to review
#4198 [GUI.Qt] Fix libQGLViewer cmake install Wait for the MacOS CI → keep to review
#4195 [Constraint.Lagrangian.Solver] GenericConstraintSolver: avoid repeated allocation in loops → ready
#4194 [Geometry] Update method intersectionWithEdge signature and redirect all methods to it in EdgeSetGeometryAlgorithms Suggested changes applied but now compilation fails. The PR rised quesiton about the Equality threashold that is currently globally set and should be related to the scene size. To be discussed during the STC. Revert suggestion. → wip
#4192 [Topology.Container] Remove method writeMSHfile in GeometryAlgorithms components → ready
#4190 [Topology.Container] Update and rename methods in EdgeSetGeometryAlgorithms to compute barycentric coordinates Test CI MacOS then ready → ready
#4172 [LinearSystem] Assemble non-mapped and mapped matrices in parallel → ready
#4168 [BatchGUI] Show progress bar Reviews taken into account. Let's test it on MacOS and check the output on the CI. Then ready → ready
#4163 [all] Deprecates the hard coded interactions in components Agreement that interactions should not be in any component but only in controllers. Controllers should be implemented to keep the desired features. Work on the transition / lifecycle. This last element is missing and should be implemented, then ready → wip
#4158 [LinearSystem] Introduce constant sparsity matrix assembly Special cases of use will be trated correspondly when necessary → ready
#4133 [Core] Store default value in a Data Changes taken into account → ready

PR merged within the week

27/09/2023

News

SOFA Week 2023: first registered participants are here, book your seats!
New plugin for ViscoElasticity is now available!

Technical discussions

Update regarding SofaCUDA plugins: GPU thesis plugins are now open. Would be interesting to compare it to the Defrost SofaCUDALinearSolver
HPC seminar at Inria (CR available here)
- Scotch: package for graph and mesh/hypergraph partitioning, graph clustering, and sparse matrix ordering
- SolverStack: HPC linear algebra solver stack
- MoReFem: high-performance scientific computing library for numerical simulation of multi-physical phenomena, based on the PETSc linear algebra library
Revive the Pardiso plugin. Problem : it is not portable and the license is not open. It has been integrated to Intel MKL library, maybe create a plugin on this library for SOFA?

SOFA PR review

#4187 [examples] Fix warning of UncoupledCC in caduceus Understand how the defaultCompliance data is used. A new PR should be open to filter zero values in defaultCompliance or compliance (issue #4202) → keep to review
#4182 [Config] Integrate Tracy profiler Possible integration of Tracy in ImGUI (an issue is created #4200 to discuss at STC#16). → ready
#4180 [LinearSolver.Direct] SparseLDL: Fix crash in addJMInvJtLocal A more global discussion could be about questioning the use of sofa::vectors vs the std version and lighten our implementation. Else ready. → ready
#4179 [LinearAlgebra] Fix segfault when accessing and empty CSR matrix (through iterators) Alex wants to go through it more deeply to really indentify the problem. → wip
#4177 [all] Generalize the usage of ScopedAdvancedTimer Issue created #4199 on the valSet problem then merge. → ready
#4172 [LinearSystem] Assemble non-mapped and mapped matrices in parallel A question arised on the default behavior: should it be monothread or multithreaded by default. It has been decided to leave it monothreaded to avoid any result consistency and complete the Multithread dedicated documentation page. Update the d_parallelAssemblyIndependentMatrices default value → keep to review
#4168 [BatchGUI] Show progress bar Interesting and usefull : require to test the scene tests with the pr to see the behavior of the logs with this output. Update the license requirements for the 'indicators.hpp'. Allow to hide the progress bar. One failing test with runSofa -n infinite → keep to review
#4163 [all] Deprecates the hard coded interactions in components This PR removes important mechanism without giving an alternative (recoding a controller). It is necessary to provide those controler to keep the features or remove these components from the PR. An issue will be created regarding the mesh exporter/loader standardization → keep to review
#4158 [LinearSystem] Introduce constant sparsity matrix assembly Unitary tests are fixed. Only meaningfull for compressed models. Need one test with needle insertion then merge → keep to review
#4138 [MultiThreading] Introduce parallel CG Investigate the timeout. Rebase with the PR reducing logs of Fred, see if this changes something → keep to review

PR merged within the week

27/09/2023

News

SOFA Week 2023: first registered participants are here, book your seats!
New plugin for ViscoElasticity is now available!

Technical discussions

Update regarding SofaCUDA plugins: GPU thesis plugins are now open. Would be interesting to compare it to the Defrost SofaCUDALinearSolver
HPC seminar at Inria (CR available here)
- Scotch: package for graph and mesh/hypergraph partitioning, graph clustering, and sparse matrix ordering
- SolverStack: HPC linear algebra solver stack
- MoReFem: high-performance scientific computing library for numerical simulation of multi-physical phenomena, based on the PETSc linear algebra library
Revive the Pardiso plugin. Problem : it is not portable and the license is not open. It has been integrated to Intel MKL library, maybe create a plugin on this library for SOFA?

SOFA PR review

#4187 [examples] Fix warning of UncoupledCC in caduceus Understand how the defaultCompliance data is used. And filter zero values. → keep to review
#4182 [Config] Integrate Tracy profiler Possible integration of Tracy in ImGUI (an issue is created #4200 to discuss at STC#16). → ready
#4180 [LinearSolver.Direct] SparseLDL: Fix crash in addJMInvJtLocal A more global discussion could be about questioning the use of sofa::vectors vs the std version and lighten our implementation. Else ready. → ready
#4179 [LinearAlgebra] Fix segfault when accessing and empty CSR matrix (through iterators) Alex wants to go through it more deeply to really indentify the problem. → wip
#4177 [all] Generalize the usage of ScopedAdvancedTimer Issue created #4199 on the valSet problem then merge. → ready
#4172 [LinearSystem] Assemble non-mapped and mapped matrices in parallel A question arised on the default behavior: should it be monothread or multithreaded by default. It has been decided to leave it monothreaded to avoid any result consistency and complete the Multithread dedicated documentation page. Update the d_parallelAssemblyIndependentMatrices default value → keep to review
#4168 [BatchGUI] Show progress bar Interesting and usefull : require to test the scene tests with the pr to see the behavior of the logs with this output. Update the license requirements for the 'indicators.hpp'. Allow to hide the progress bar. One failing test with runSofa -n infinite → keep to review
#4163 [all] Deprecates the hard coded interactions in components This PR removes important mechanism without giving an alternative (recoding a controller). It is necessary to provide those controler to keep the features or remove these components from the PR. An issue will be created regarding the mesh exporter/loader standardization → keep to review
#4158 [LinearSystem] Introduce constant sparsity matrix assembly Unitary tests are fixed. Only meaningfull for compressed models. Need one test with needle insertion then merge → keep to review
#4138 [MultiThreading] Introduce parallel CG Investigate the timeout. Rebase with the PR reducing logs of Fred, see if this changes something → keep to review

PR merged within the week

20/09/2023

News

SOFA Week 2023: first registered participants are here, book your seats!
SoftRobots.Inverse plugin is now open-source!

Technical discussions

Vladimir Poliakov working on a training simulator for hysteroscopy. He implemented an asynchronous GUI with adaptive time step (with a maximum garanteeing the simulation stability). Vladimir will soon be leaving back in KU Leuven, feel free to take a look at filosofia and the coupling with filament. Parallel of simulation and rendering logically shows better performances than runSofa, this is something we could get inspired from. Vladimir will soon make his pending changes in SOFA as PRs.
Rising interest in SOFAGLFW+ImGui which could/should replace runSofa. Modularization of ImGui would be a plus
Scene tests run all examples even in plugins and when multithreading is involved, many timeouts occur
Prefabs should be deeply rediscussed
SOFA Vedo : have a visualization tool for python. Robin should discuss with Samuel to evaluate the need of this feature.
Profiler Tracy #4182 -> nice tool for profiling execution with good insights. (see pr review)

SOFA PR review

#4182 [Config] Integrate Tracy profiler Presentation done by Alex with a multithreaded example. Each ScopedTimer is replaced by a macro and is visible in the profiler. Tracy needs to be launched first as a server, then runSofa as a client. Test must still be conducted whether Tracy affects the performances. We should be able to remove completely timers.
#4179 [LinearAlgebra] Fix segfault when accessing and empty CSR matrix (through iterators) An alternative change should be made to ensure that iterator begin = end when the structure is empty, assess performances and add a test to avoid reproducing the issue → wip (keep to review)
#4158 [LinearSystem] Introduce constant sparsity matrix assembly PR to be tested on different use case (needle insertion, beams) + to be reviewed. → keep to review
#4151 [Mass] Fix UniformMass vertexMass value should not be set to 0 if nbr of points reach 0 → ready
#4138 [MultiThreading] Introduce parallel CG A lot of timeouts. Test with freshly rebooted VM and see if the timeouts are caused by the vm itself or the pr. → keep to review
#4046 [MechanicalLoad] Use prefix d_ in DiagonalVelocityDampingForceField → wait for CI then ready

PR merged within the week

13/09/2023

News

SOFA Week 2023: first registered participants are here, book your seats!
Final version of the SofaPython3 documentation is now online!
New open-source plugin for Design Optimization

Technical discussions

CI MacOS still down
New Ubuntu CI : 22.04
Release of GPU codes: discussion incoming to sort codes
Investigate Jenkins configuration options (minimal/standard/full): CMakePreset.json could be used

SOFA PR review

#4160 [all] Use SimulationInitDoneEvent instead of AnimateBeginEvent Unit tests failing → wip
#4138 [MultiThreading] Introduce parallel CG Performance issues noticed by Paul, now fixed by Alex. To be tested again. A regression test should be added to make sure that the single- and multi-threaded give the same results (make sure it is active, and maybe activated by default) → keep to review
#4075 [all] Remove some simple uses of bwdInit() #4160 uses the event to expert at begin. Conflict to solve and unit test failing. → wip
#4046 [MechanicalLoad] Use prefix d_ in DiagonalVelocityDampingForceField Reviews to take into account → wip
#3938 [Sofa.Core] Implements a template deduction system in the object factory This PR along with the #3987 implements two possible mechanisms (implicit and explicit) to deduct the template of objects, but outside from canCreate(). The static version should be preferred but the other method should be removed. The #3987 should be carefully the one reviewed and tested locally to assess the mechanism. Afterwards, further cleanings on canCreate() (for example checks transfered to init()) will be reviewed. → keep to review

PR merged within the week

06/09/2023

News

SOFA Week 2023: a unique occasion to meet all the community, discover live demos and network!
Final version of the SofaPython3 documentation is now online!
The community recruits, find out more online!
Project opened by Alex to compile SOFA compiled Emscripten (compiler toolchain to WebAssembly) and then possibly a rendering engine browser compatible (javascript as well)

Technical discussions

Update about the SOFA conda package by Olivier
- PR #23085 opened on conda forge
- Should be available at the beginning of October
- A tutorial may be provided during the SOFA Week!
Continuous integration:
- very long nightly builds due to pending macos blocking CI
- this Thursday new infra updates incoming
Sort out old SOFA GitHub PR
PRs pending on BeamAdapter

SOFA PR review

#4133 [Core] Store default value in a Data May be easier to display the value for every type but the stored value should remain in the original type. Remove the template mechanism and store the default value for every type then ready. → wip
#4132 [Constraint.Lagrangian.Solver] GenericConstraintSolver: use given re-ordered list for unbuilt GS The speedup may be increased with a simple optim on memory. New pr will be added. Regression fail may be due to difference in the way the convergence criteria is computed. → ready
#4129 [Constraint.Lagrangian.Solver] Fix default value for computeConstraintForces Data Default = value can be removed. Then ready → ready
#4128 [Mass] Add a callback on the lumping data in MMMass Changing the value doesn't seem to break the simulation but this is not explicitally supported. It is thus important to tell the user that this is not not possible and pass the mass to invalid -> may crash but it's preferable → ready
#4126 [test] Make quaternion test deterministic and portable STL cannot be used since they are not portable → ready
#4117 [Constraint.Lagrangian.Solver] Unify lists of constraint corrections into a MultiLink Investigate the use of DoubleLink : What is the behavior and the usage of this ? Wouldn't be single link enough ? Investigate this then ready. → keep to review
#4116 [MechanicalLoad] Implement buildStiffnessMatrix for TaitSurfacePressureForceField → ready
#4075 [all] Remove some simple uses of bwdInit() Further to discussions, an event should be triggered once the initialization is done (init and bwdInit() -> create a new pr to propose a new mechanism for notifying the components that the scene is ready to be run → wip
#4063 [LinearAlgebra] Fix matrix sizes when filtering Inspecting values in the filtered system matrix, it has been noticed that the size info was incorrect (metadata, even if the matrix data itself were present) → ready
#4056 [all] Lifecycle v23.12 3/n Wait for the CI then ready → ready
#4053 [Geometry] Add methods pointBaryCoefs and isPointInTriangle in Triangle class Review done on function naming to make it clear for developers and user "coordinate" → wip
#4046 [MechanicalLoad] Use prefix d_ in DiagonalVelocityDampingForceField C++ union has been removed, now setParent() is used. However, if the child variable is changed, the parent (the one used) is not udpated. Discussion concludes that when renaming a data, we should directly remove the old one by using DepreactedAndRemoved type to emit a compilation error (which cannot be ignored!). → wip
#3457 [SofaCarving] Add an example written in python → ready

PR merged within the week

30/08/2023

News

SOFA Week 2023 in less than 3 months, you can already register!
SofaPython3 documentation being updated

Technical discussions

access SOFA master nightly build: a change on the CI infrastructure at Inria blocked access to the nightly builds. This is solved, thus restoring the CI for the master branch of external plugins
SOFA has CMake/plugins multiple configurations: minimal, standard, full (Jenkins). We should work on homogeneizing these configuration for:
- the release (full + plugins)
- the conda package
- and the Plugins page
Repository site-package python3 for SOFA plugins see MOR #72: can be configured in SofaPython3 plugins but other plugins having bindings do not inherit of this configuration. Using the major.minor version format is fine and this property should be propagated. However, the python path could be added when SOFA binaries get installed (this would be for later)

SOFA PR review

#4096 [GitHub] Add an action closing old discussion topics File should be yml and test it → wip
#4079 [GitHub] Action to check labels Test is failing, check syntax → wip
#4065 [all] Update code regarding lifecycle in Topology.h PR needs 4058, let's wait for the CI (fedora already compiles fine) → keep to review
#4063 [LinearAlgebra] Fix matrix sizes when filtering PR is fine but an explanation would enlight us → keep to review
#4053 [Geometry] Add methods pointBaryCoefs and isPointInTriangle in Triangle class Four tests failing to fix → wip
#4048 [Visual] ADD a visualization flag and draw method for NarrowPhaseDetection → ready but wait for CI
#4046 [MechanicalLoad] Use prefix d_ in DiagonalVelocityDampingForceField Union may prevent to use a variable x if you wrote in y which is exactly our case here. Let's use the setParent() on Data. → wip
#4034 [all] Lifecycle v23.12 1/n → ready but wait for CI
#4029 [Geometry] Add method intersectionWithEdge in Edge structure Condition in the code is fixed → ready

PR merged within the week

23/08/2023

News

New marketplace online: sofa-framework.org/applications/plugins
Do not forget to early register for the SOFA Week 2023!

Technical discussions

Folder for python site-packages is python3/ but it does not help differentiating the versions, best would be e.g. python3.8.10/site-packages/. A variable allows this in the plugin SofaPython3 but not in plugins. Discussion with Damien for possible explanation, else 👍
Nightly build of SOFA are working again (branch v23.06 on sofa/ci)
Close old opened PR on the fly during the week
SofaPython3 2 PR pending review to be done on the fly during the week
Issue on SofaGLFW: GitHub action nightly generating releases for master and v23.06. But each nightly add a new set of release. Comparison with Regression to be done and the action in SofaPython3 should be updated to be really nightly.

SOFA PR review

#4099 [MechanicalLoad] Implement buildStiffnessMatrix for SphereForceField → ready
#4098 [MechanicalLoad] Fix plane force field buildStiffnessMatrix → ready
#4097 [MechanicalLoad] Implement buildStiffnessMatrix in SurfacePressureForceField → ready
#4075 [all] Remove some simple uses of bwdInit() Take reviews into account → wip
#4065 [all] Update code regarding lifecycle in Topology.h Waiting for #4058 → keep to review
#4064 [plugins] Fix OptionGroup deprecated constructor in image and SofaCUDA → ready
#4063 [LinearAlgebra] Fix matrix sizes when filtering Still a test to be added → wip
#4048 [Visual] ADD a visualization flag and draw method for NarrowPhaseDetection Fixed test but error on DeprecatedData API, soon fixed → keep to review
#4046 [MechanicalLoad] Use prefix d_ in DiagonalVelocityDampingForceField Ask for explanation on why using union would be a problem → keep to review
#4034 [all] Lifecycle v23.12 1/n Revert changes on ComponentChange, split to be done in another PR → wip
#4029 [Geometry] Add method intersectionWithEdge in Edge structure One condition is the code is incorrect, to be fixed. → wip
#4001 [LinearSystem] Optim: Only account for affected DoFs With the new matrix API visual mappings were computed. With this PR, we get back to previous perf. Note that with this mechanism we should not need anymore the boolean check isMechanical in mappings → ready
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading → ready
#3912 [Mass] Deprecate and make DiagonalMass inherit from MeshMatrixMass In parse() of a specialized class DiagonalMass : warning for user + deprecation for devs. Add callback on lumping to warn user. → wip

SofaPython3 PR review

#366 Binding to setup task scheduler (nb threads) #366 Comment done for formatting else OK → wip then ready

PR merged within the week

16/08/2023

News

Still many devs in vacations! Getting tanned for the SOFA Week 2023

SOFA PR review

#4059 [all] Add dates for user deprecation classes RemovedData and DeprecatedData → ready
#4048 [Visual] ADD a visualization flag and draw method for NarrowPhaseDetection Unit test failing due to the increased number of visual flag → wip
#4034 [all] Lifecycle v23.12 1/n Object at compilation are considered as too large. Either we clean the ComponentChange file or we split it into several files. To be discussed with more → keep to review
#4029 [Geometry] Add method intersectionWithEdge in Edge structure Test Edge_test.cpp was failing. Fixed by fredroy, waiting for CI then ready → keep to review
#4028 [Geometry] Add method isPointOnEdge in Edge structure All changes taken into account → ready
#4019 [MechanicalLoad] Remove the data force in ConstantFF and solves circular dependency → ready
#4001 [LinearSystem] Optim: Only account for affected DoFs Approved by reviewers, waiting for the author to get back → keep to review, ready to be merged
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading It seems strange that the factorization of the mapping propagation at the end of the time step makes the scene crashes, to be discussed further. → keep to review

PR merged within the summer break

26/07/2023

News

SOFA Week 2023 : registrations are now open!!
Training sessions are open for august and september, register now !
It's summer times, the SOFA community will slow down the two first weeks of August. Enjoy your summer and see you in the second half of August!

Technical discussions

[Core] Unification of addDForce and buildStiffnessMatrix (#4010) This is resulting from the matrix refactoring (#2777). The idea was to unify the two metyhod by always using the build matrix method instead of addDforce. This makes the unbuilt version slower (especially for corotationnal). → The idea is to use this unification to make the addDForce override optional but warn the user that the unbuilt version will be slower and that they should override it if they want the real mechanism.
[LinearSystem] Optim: Only account for affected DoFs (#4001) The question was why this PR is accelerating the Caduceus given the fact that it isn't using any penality. → This maybe due to the fact that the matrix building baypass the mechanical flag of the mappings. Filtering the affected dof has thus the side effect to take the flag into account implicitly. It would be better to take the mapping flags into account explicitly.
[Lifecycle] On the use of union for data name depreciation (#4046) The use of union to enable the use of old data name could become a norm → Raises a problem with the destructor. It forces the destructor of the class to be defined. Inside of it we need to explicitly tell which data of the union is destroyed (memory leak if not done but is it really an issue ?). This would also imply to remove the destructor at the end of the lifecycle (this could be eased by destructing the deprecated data instead of the new one as a convention to raise ocmpilation errors). The use of this would require to update the doc and be very explicit on what to do regarding the destructor.

SOFA PR review

#4045 [Core] Make doDrawVisual final → to review
#4041 [GUI.Qt] Remove unused recorder feature → ready
#4040 [all] Lifecycle v23.12 2/n → to review
#4034 [all] Lifecycle v23.12 1/n No line in ComponentChange should ever be removed to insure that old scene could be easily fixes. Even more because this is practically free for compilation and totaly harmless in run time and maintenance. This should lead to a technical discussion on ComponentChange doc → to review
#4029 [Geometry] Add method intersectionWithEdge in Edge structure → to review
#4028 [Geometry] Add method isPointOnEdge in Edge structure → to review
#4027 [fem] Add option to compute principal stress direction in TriangularFEMForceFieldOptim → ready
#4019 [MechanicalLoad] Remove the data force in ConstantFF and solves circular dependency Need to fix the output to get the CI to validate the scenes tests → wip
#4010 [Core] Unification of addDForce and buildStiffnessMatrix → wip (see technical discussions)
#4005 [MechanicalLoad] Implement buildStiffnessMatrix in EllipsoidForceField → ready
#3991 [FEM.Linear] Implement buildStiffnessMatrix and addKToMatrix for TriangularFEMForceField Waiting for Erik's review then ready → to review
#3990 [all] Replace canCreate with init() when approapriate Depends on #3938 so waiting for the discussion → wip
#3987 [all] Replace canCreate with the getTemplateFromMechanicalState deduction rule Depends on #3938 so waiting for the discussion → wip
#3986 [LinearSolver.Direct] Parallelization of H A^-1 H^T in SparseLDLSolver Regression test is not rigorous enough, the error is the mean over all nodes but in cases like the benchmark introduced here by Paul, it passes easily for any regression over 10e-7. We whould discuss how to modify the regression test to catch this : infinite norm ? Alex would like to add modification and unitary tests → wip
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading Requires an investigation on why the scene in sph is crashing. A PR should be added to try and remove the buildConstraintMatrix step. → scene check + new PR then ready
#3945 [all] Unify how Animation/Visual loops are handling their "targetNode" → ready
#3938 [Sofa.Core] Implements a template deduction system in the object factory Discussion to plan with Damien and Alex to talk about this PR → wip
#3924 [MechanicalLoad] Replace doUpdateInternal by callback: ConstantFF → ready

SOFAPYTHON3 PR review

#364 Disable MacOS CI build for now. Removing macos ci is not good, we should instead modify the ci to publish the release even when macos is not working → to review
#362 Follow changes from #3959 → waiting on sofa pr #3959 then ready
#357 Follow changes from SOFA #3889 → waiting for ci then ready
#356 [examples] Fix all example warnings and add all files in CMakeLists → ready
#335 Prevent division by zero → ready

PR merged within the week

19/07/2023

News

The two first weeks of August will be down for most of the SOFA community! Put the sunglasses on 😎 but do not forget to book the SOFA Week 2023!
Vladimir PhD student at KU Leuven is visiting: cutting simulation (Harders hybrid cutting approach) and remeshing further to cutting using MMG

Technical discussions

No lifecycle info in RemovedData/DeprecatedData #4043: two additional fields should be added to specify the deprecated date and removal date in both RemovedData/DeprecatedData
[MechanicalLoad] Implement buildStiffnessMatrix in EllipsoidForceField #4005: clean way to rename a data for developers

SOFA PR review

#4029 [Geometry] Add method intersectionWithEdge in Edge structure Test CI along with #4028 → keep to review
#4028 [Geometry] Add method isPointOnEdge in Edge structure Scenes are crashing on windows using potentially inyersection methods. → investigate the scenes crash and keep to review
#4027 [fem] Add option to compute principal stress direction in TriangularFEMForceFieldOptim Wait for Alex feedback, else ready → keep to review
#4019 [MechanicalLoad] Remove the data force in ConstantFF and solves circular dependency Several unit tests and scenes tests are failing due to removal of force This PR removes the force data but it also proposes a new design for the data update : depending on which data is set initially by the user, only the data used at init can be updated. Drawback : a double udpate is always performed → keep to review
#4005 [MechanicalLoad] Implement buildStiffnessMatrix in EllipsoidForceField Validate with Alex about the use of union, else ready → keep to review then ready
#3991 [FEM.Linear] Implement buildStiffnessMatrix and addKToMatrix for TriangularFEMForceField Review of epernod still ongoin → keep to review
#3986 [LinearSolver.Direct] Parallelization of H A^-1 H^T in SparseLDLSolver Issue in the demo scene, a point behaves strangely when the contact occurs when using the feature branch. To be investigated → keep to review
#3983 [FEM.Elastic] Minor refactor of buildStiffnessMatrix in TetrahedronFEMForceField → ready
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading CI sees apparently twice an error in advancedtimer. Also could be tested to remove buildConstraintMatrix() unused in DefaultAnimationLoop → keep to review
#3924 [MechanicalLoad] Replace doUpdateInternal by callback: ConstantFF Review needed. This PR comes along with #4019. → keep to review

PR merged within the week

12/07/2023

News

The SOFA consortium staff moved into a new building in Strasbourg!
Vladimir PhD student at KU Leuven is visiting the SOFA team for 3 months!

Technical discussions

[Core] Unification of addDForce and buildStiffnessMatrix
[LinearSystem] Optim: Only account for affected DoFs At the matrix assembly, @fredroy noticed that the function assembledMappedMatrix --> applytJT() is called less often thus improving performances. A regression is still present on BeamFEMForceField

SOFA PR review

#4026 [constraint] Update PrecomputedConstraintCorrection logs when loading compliance file. Some suggestions done → else ready
#4025 [GuiQt] Remove some unactivated code Removing code and macro unsused for +15 years. One last macro will be removed, let's do it in this PR! → wip
#4019 [MechanicalLoad] Remove the data force in ConstantFF and solves circular dependency Last reviews done → wip then ready
#4010 [Core] Unification of addDForce and buildStiffnessMatrix Looks nice but the transition phase and the PR needs to be further discussed, let's open the discussion next week with Alex !
#4009 [Spring] Implement buildStiffnessMatrix in PolynomialRestShapeSpringsForceField → ready
#4005 [MechanicalLoad] Implement buildStiffnessMatrix in EllipsoidForceField Reviews to take into account, macro issue. → wip
#4000 [SofaCUDA] Implement buildStiffnessMatrix and buildDampingMatrix in TLED → ready
#3999 [MechanicalLoad] Restore computation of derivatives in DiagonalVelocityDampingForceField Comment done, else the PR is OK → ready
#3998 [CHANGELOG] Update further to latest changes in v23.06 → ready
#3990 [all] Replace canCreate with init() when approapriate Wait for #3938 → keep to review
#3987 [all] Replace canCreate with the getTemplateFromMechaniclState deduction rule. Wait for #3938 → keep to review
#3986 [LinearSolver.Direct] Parallelization of H A^-1 H^T in SparseLDLSolver Benchmark done by Fred but to do it again, since the feature is active by default. It would be nice to have a scene making sure that both sequential and parallel versions give the same result. → keep to review
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading Review must be done by all and scenes are crashing (ArticulatedArm.robot.py). In addition the function buildConstraintMatrix() could be removed in the DefaultAnimationLoop → keep to review
#3945 [all] Unify how Animation/Visual loops are handling their "targetNode" Compilation is failing again: error: 'gnode' was not declared in this scope; did you mean 'node'? → wip
#3942 [Tests] Properly remove exported files → ready
#3938 [Sofa.Core] Implements a template deduction system in the object factory Pending discussion → keep to review
#3924 [MechanicalLoad] Replace doUpdateInternal by callback: ConstantFF Ready but to be merged with #4019 → ready
#3882 [plugin] Add fetchable SoftRobots Test Result 2 failures (time out). CI restarted let's wait and see → keep to review

PR merged within the week

05/07/2023

News

New consortium staff: Paul Baksic joining the force!
More than #4000 PR now!

Technical discussions

#4001 [LinearSystem] Optim: Only account for affected DoFs Optimize the assembly of mapped ForceFields JtKJ by identifying the useful terms of the Jacobian matrix with regards to the K matrix shape. A regression appeared on BeamFEMForceField and a scene test seems to fail SpatialGridPointModel.scn
#3977 [Core] Suggestion of a better displayFlag name : ContactInteractions A new flag could be created displaying the DetectionOuput to visualize contact points whether you are using Penalities or Langrangian (new issue). But the suggestion will not be integrated as is. PR closed
A proof-of-concept plugin SofaRaylib which adds a GUI and a new API to draw in SOFA using the raylib library

SOFA PR review

#3994 [AnimationLoop] Change the default constraint solver in FreeMotionAnimationLoop Setting the componentState as Valid at the end and returning when Invalid, else OK → wip
#3986 [LinearSolver.Direct] Parallelization of H A^-1 H^T in SparseLDLSolver Nice PR presenting the parallel version of the SparseLDLSolver, only benchmarks are coming soon. → keep to review
#3972 [MechanicalLoad] Implement buildStiffnessMatrix for PlaneForceField Introduce a generalized version of the dyadic operator. Wait for CI then ready → ready
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading Scenes are failing → back to wip
#3945 [all] Unify how Animation/Visual loops are handling their "targetNode" Compilation failing → back to wip
#3942 [Tests] Properly remove exported files Wait for MacOS CI → keep to review
#3938 [Sofa.Core] Implements a template deduction system in the object factory Question pending → keep to review
#3931 [all] Use NVI design pattern for drawVisual Reviews have been done, waiting for an answer → wip
#3930 [Sofa.Type] Reformat code Remains to test the PR with clang-format + solve conflicts → wip
#3882 [plugin] Add fetchable SoftRobots At install, CMake copies python files using configure_file(), but when applying on binary files they get corrupted. A pure copy is now used, instead of configure_file(). One last scene is failing examples/thematicalDocs/T1-Elements_TetraHexaBeam/Hexa.Hexa.py. Scene will be investigated and the SofaPython3 PR #354 has been merged → wip

PR merged within the week

28/06/2023

News

Release upcoming this week
MacOS down for 10 days more: a test will be done tomorrow, let's merge PR starting from Thursday evening

Technical discussions

Update about data/component update: discussions took place and a report will soon be presented
#3968 [FEM.Elastic] Test HexahedralFEMForceField: shows that HexahedralFEMForceField and HexahedronFEMForceField do not behave the same way! This should be investigated and fixed in another PR

SOFA PR review

#3961 [Helper.System] Introduce function append for paths → ready
#3959 [Simulation.Core] Refactor DefaultAnimationLoop + multithreading Further review will be done. This PR raises the fact that the computation of forces due to InteractionForceFields can not be done anytime in the loop. Another topic to investigate is why the speed up is only x2 instead of x4. → keep to review
#3956 [Core] Remove macros!!!!! From this PR a new proposition will be done, maybe template based → wip
#3948 [all] Implement empty buildDampingMatrix Fix conflicts then ready → keep to review
#3945 [all] Unify how Animation/Visual loops are handling their "targetNode" Few reviews to take into account → wip
#3944 [Helper] add the experimental filesystem library for gcc-8 compilation Adds a bit of complexity to access filesystem library, but it ensures compatibility with old compilers → ready
#3942 [Tests] Properly remove exported files → ready
#3938 [Sofa.Core] Implements a template deduction system in the object factory In the strategy to firstly factorize/homogeneize the canCreate function, this PR propose an API to deduct template. Would be nice to apply it on the entire code base → wait for CI, then ready
#3936 [MechanicalLoad] Break data cross-dependency in CFF Duplication of data will finally not be the way to go, an alternative PR will be proposed → closed
#3931 [all] Use NVI design pattern for drawVisual Use of a NVI design pattern. Factorize the boolean draw data, the use of getShowVisualModel. Should use the isComponentStateValid() function → wip
#3930 [Sofa.Type] Reformat code Suggestion done, remains to test the PR with clang-format → keep to review
#3928 [Mass] Replace doUpdateInternal by callback: MeshMatrixMass Same as #3924 → wip
#3927 [Mass] Replace doUpdateInternal by callback: UniformMass Same as #3924 → wip
#3924 [MechanicalLoad] Replace doUpdateInternal by callback: ConstantFF Create a function including all the update process, split the updates in separate functions (recover commits from #3936), use function isComponentStateValid() → wip
#3894 [LinearAlgebra] Implement CompressedRowSparseMatrixConstraint → ready
#3888 [Constraint] Add tag to classify constraints → ready

PR merged within the week

21/06/2023

News

Feedback on VivaTech 2023
- SOFA booth along with InfinyTech3D
- Compliance Robotics booth

Technical discussions

Careful: MacOS CI is not yet online ⚠️ wait before massive merge!
Preparation of the v23.06 release
- Linux and Windows are successfully generated, and tested
- Waiting for MacOS CI to generate them
- Issues on Caribou:
  - change repo name
  - change project name
  - clean scenes
  - ship scenes within install
  - check the use of the Cosserat bindings
  - add it to the fetchable plugins
Go further with #354 Support copy of some binary files
- when preparing the python packages at install, the configure_file() is corrupting some files
- investigate what does the macro and the configure_file() file (probably not only a simple copy)
- Alex will give a try and could be a good first complicated topic for Paul

SOFA PR review

#3963 [Project] Start dev phase v23.12 → ready
#3960 [plugins] Remove references to old plugins PreassembledMass and RigidScale should be removed to due to the hard link to Compliant and/or Flexible → wip
#3937 [all] Make local variables const Ready but wait for the MacOS CI → ready (wait MACOS)
#3934 [all] Add DeprecatedData and RemovedData Deeper review on the change in Base will be done. Reviews added, test failing (which is nice, this PR detected them!) and problem of indentation to solve → keep to review
#3931 Use NVI design pattern for drawVisual Missing deprecation layer on the data d_visible in OglLabel. Else wait for the discussion "component and data update" → wip
#3930 [Sofa.Type] Reformat code New rule AllowShortCaseLabelsOnASingleLine: false could be added, then the format script should be tested by other devs → keep to review
#3929 [FEM.Elastic] Implement buildStiffnessMatrix for FastTetrahedralCorotationalForceField Failing tests are due to a CI machine not cleaned (due to MacOS missing CI), two reviews validating the PR. → ready
#3894 [LinearAlgebra] Implement CompressedRowSparseMatrixConstraint Reviews taken into account. In the class, CompressedRowSparseMatrixConstraint a utilitary code was present: Fred removed it. Wait for MacOS CI to merge → ready (wait MACOS)
#3889 [Sofa.Simulation] First steps to remove the singleton Simulation Change function name sofa::simulation::node::init(node) and sofa::simulation::node::initRoot(rootNode) → ready
#3882 [plugin] Add fetchable SoftRobots Warnings with the topologyHandler in the SoftRobots plugin were remaining. When the scene in constructed, some nodes are initialized before the global initialization. This double init() on Mass, the topology handlers are sending a warning. A proposed solution is to use the static MeshTopology instead, a longer term solution would be to avoid these double init. → keep to review

PR merged within the week

14/06/2023

News

VivaTech 2023 is coming, join us in Paris on Friday 16th of June!
CI MacOS is down due to moving of the SOFA consortium staff and infrastructure
Still a very nice dev activity (but therefore a lot of review effort)!

Technical discussions

#3930 [Sofa.Type] Reformat code Such a formatting tool has a great interest for SOFA, but for now not to apply on the whole codebase. With 25+ open PR, applying it to all SOFA would generate conflicts as well as make the comparison with older codes complicated. Moreover, only one rule (e.g. only the code tabulation) can not be applied. Howevever, the script can be applied on separated modules. Alex will test clang-format in command line and a review of the format is needed.
- Remark: OK to apply it on Sofa.Type. Exntending it to SOFA is not a priority, minimum effort for PR author and for the core-dev
- it would be simpler to apply it once on the whole code base (easy to do in the Sofa.Core)
- must be done in a synchronized way (for developer with multiple branches)
- then suggest/automatize/enforce format in PR (through CI, or GitHub actions) → Paul
#3924 [MechanicalLoad] Replace doUpdateInternal by callback: ConstantFF
- doUpdateInternal API was a DataEngine mechanism in all BaseObject to allow for a triggered update of components through the doUpdateInternal function. It was allowing for having input and output data but it is not spread and could be replaced by data
- #3636 is pursueing the work by separating the callback to have one per data, and it adds new data as input while having read-only data which are coherent
  - have the read-only constraint (more than only GUI) and how to implement it (check in beginEdit(), BaseData, Data)
  - break circular dependencies seems a good property, but we could keep only one input with an engine allowing to have other input
  - a dedicated discussion will take place next week!

SOFA PR review

#3925 [Projective] Fix and test FixedPlaneConstraint → ready
#3905 [Constraint.Lagrangian.Solver] LCPConstraintSolver: Fix when mu=0 (no friction) A discussion remains (but out of the PR scope): how to have a cleaner, simpler and more generic way to define friction → ready
#3903 [Spring] Rename RestShapeSpringsForceField to a more user-oriented name Agreement on names found here. An issue will be created. → closed
#3894 [LinearAlgebra] Implement CompressedRowSparseMatrixConstraint Brings back the InSimo's work to replace MapMapSparseMatrix. Some refactoring could be done but a deep review is needed from a max number of devs. → keep to review
#3891 [all] Rename DefaultContactManager into CollisionResponse → ready
#3890 [Plugins] ADD external collisions plugins PR on plugins merged, it's ready. Just note that those plugins do not have any CI, use at your own risk. → ready
#3889 [Sofa.Simulation] First steps to remove the singleton Simulation Fred noticed the change of init() functions which disappeared but initNode() has changed and a new initNodeNoContextUpdate() has been added. Damien suggests the use of different namespace to explicit the perimeter of the init function but sofa::simulation::simulation::init() could be misleading. A coherent renaming will be proposed → keep to review
#3882 [plugin] Add fetchable SoftRobots CI works on the SoftRobots scenes and Alex is working on fixing the failing scenes in the plugin. If fixing becomes too complex, some scenes might be added to the ignored files. → wip

PR merged within the week

07/06/2023

News

VivaTech 2023 is coming, join us in Paris on Friday 16th of June!
CI MacOS is down due to moving of the SOFA consortium staff and infrastructure
Nice dev activity!

Technical discussions

Release v23.06 process ongoing
- SofaPython3: merged PR #351
- Remove reference: SofaPython, THMPGSpatialHashing, Flexible, Compliant, OptiTrackNatNet, OpenCTMPlugin
- Make sure a v23.06 branch is available in your plugins: Tearing, IT3DToolkit, Cosserat, SoftRobots, MOR, STLIB
- Test the addition of a new plugin: Caribou
Lifecycle for v23.12 will start after the release
PR to review
- #3903 [Spring] Rename RestShapeSpringsForceField to a more user-oriented name The new nomenclature suit all developers, renaming upcoming!
- #3912 [Mass] Deprecate and make DiagonalMass inherit from MeshMatrixMass Todo:
  - assess again performances on large mesh
  - remove CUDADiagonalMass
  - edge implementation to backport in MMM
  - deprecate XspLoaders (later, create an issue)
Damien is progressing well on the update of the SofaPython3 documentation

SOFA PR review

#3918 [Core] Access cumulative sum of VecIds through proxy class With non-linear mappings, the derivative of J times the forces (on the mapped object) f has to be computed. Several forces apply: physical forces and Lagrangian forces contained in two different data (stored in different VecIds). The refactoring associated to the new matrix assemlby broke the fact that Lagrangian forces were taken into account in the geometric stiffness. This PR fixes this. → ready
#3882 [plugin] Add fetchable SoftRobots Now SoftRobots plugin have a repository examples/. Force full build triggered, let's wait CI. → keep to review
#3850 [Spring] Limit spring force to some axis → ready

PR merged within the week

31/05/2023

News

Feedback from SOFA Technical Committee #15. A new format could be suggested: separate STC roadmap discussions from the coding sprint, this would have the advantage of taking the time to converge on the roadmap.
Next event: SOFA at VivaTech 2023 on Friday 16th of June!

Technical discussions

#3903 [Spring] Rename RestShapeSpringsForceField to a more user-oriented name A common use of RestShapeSpringsForceField is to fix some points using forces and sometimes fixing points to another object. In general this raises the question of: defining a naming convention on such components to distinguish:
- projective constraints (physicless, forceless)
- weak force constraints (physicless with forces)
- Lagrange-based constraints (taking into account the physics and applying forces)
Process for the v23.06 release will start soon

SOFA PR review

#3888 [Constraint] Add tag to classify constraints Proof of concept further to STC#15 discussions but so far, no use of this mechanism. Feedback from the community requested. A usecase could be to warn the user in LCPConstraintSolver when adding BilateralInteractionConstraint while this constraint solver does not support it. → keep to review
#3887 [SolidMechanics] Use accessors & make geometrical data required in BFF → ready
#3884 [contact] Add missing call to super init → ready
#3882 [plugin] Add fetchable SoftRobots An examples/ folder should be at the root in SoftRobots for the CI to find it. It would be nice to have SoftRobots following this format. Possibly we should add STLIB. If this does not work, we will ignore the scenes. → wip
#3871 [all] Deprecate unused verbose data → ready
#3870 [Config] Fix cross-compilation for embedded external libs → ready
#3868 [SofaCUDA] No longer use deprecated texture references in HexaTLED The added scene is failing because CUDA scene are not tested on the CI. Add the scene to the ignore list, then rebase, then ready → keep to review
#3850 [Spring] Limit spring force to some axis An idea to avoid this new data was to use a mapping but it has been concluded that it would complexify too much the scene and no one is available for the implementation. → wip
#3821 [Components] Add functions to visualization of TetrahedronFemForceField PR still to review, data renaming using d_ should be done in another PR → keep to review

PR merged within the last 2 weeks

24/05/2023

❌ No meeting due to the SOFA Technical Committee #15 taking place in Paris!

17/05/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - Next week !
VivaTech 2023 : 3 demos based on SOFA!

Technical discussions

Page on how to release on the wiki
Issue when changing the group data dynamically in CollisionModel #346
- Quick dirty fix suggested
- AbstractTypeInfo could be updated to offer a consistent API, see comment
Creation and freeze of the v23.06 release branch
- Share process to release
- Extend it to plugins : will be done while doing the release
SOFA in conda by Olivier: packages will be done for each plugin + SOFA → first PR on conda forge will soon take place

SOFA PR review

#3865 [all] include base class inl file Required if compatibility with CUDA 12 is desired → to review
#3861 [all] Change variable name supportOnlySymmetricMatrix in MParams → ready
#3858 [Constraint.Lagrangian] Add messages when no compliance is given → ready
#3857 [Constraint.Lagrangian] Activate the export of lambda forces by default Wait for CI and then merge → ready
#3855 [plugins] Remove fetching of SofaPython → ready
#3850 [Spring] Limit spring force to some axis Interesting contributions (componentState, cleans) but the feature constraining the direction of the force of a RestShapeSFF is not that interesting for SOFA. → to be discussed (waiting feedback from Youness)
#3843 [SceneChecking] Add check when setting contactStiffness uselessly → ready
#3834 [LinearAlgebra] Change access specifier for the method set Reviews taken into account → ready
#3821 [Components] Add functions to visualization of TetrahedronFemForceField Review to be done by hugtalbot → keep to review
#3783 [StateContainer] Fix bug in dynamic data registration Reviews to take into account. Small change → keep to review

BeamAdapter PR review

#95 Disable BeamLengthMapping test Test failing to investigate. The issue seems to be a precision issue (1e-13~14), epernod nicely proposed himself → keep to review
#94 [MultiAdaptiveBeamMapping] Fix potential bug when removing baseEdge Small fix on type avoiding auto → ready and merged

PR merged within the week

10/05/2023

News

SOFA Technical Committee #15 in Paris from May 23th to 26th - Organization
- REGISTER NOW!
- Social events are booked!
For next STCs, Lille as a location might be preferred regarding the hotel / facilities availability

Technical discussions

Merge of the Matrix Assembly update #2777 feedback: not much feedback in general, the SoftRobots plugin has been successfully updated in #213
Cosserat plugin:
- some GitHub CI issue, related to pybind version (forcing to use C++14), used for Cosserat bindings
- State of code: clean of examples is required → a tool is required to test python scenes in plugins
Issue when changing the group data dynamically in CollisionModel, the change is not taken into account: it seems that setting a value in a set insert the new value, but does not remove the old one → feedback from Damien is expected
Creation of the v23.06 release branch: done today. Remaining todo:
- All PR must now have a milestone specified
- Share process to release
- Extend it to plugins
Reviews on BeamAdapter PR are needed as well!

SOFA PR review

#3843 [SceneChecking] Add check when setting contactStiffness uselessly Factorize checks in separate functions → wip
#3838 [Mapping.NonLinear] Warns when non-symmetric matrix is produced Renaming mparams->symmetricMatrix in as mparams->supportOnlySymmetricMatrix should be done in another PR → wait for CI then ready
#3834 [LinearAlgebra] Change access specifier for the method set. Merge the public: area, then ready → wip
#3833 [Lagrangian.Model] Missing _API keyword → wait for CI then ready
#3821 [Components] Add functions to visualization of TetrahedronFemForceField Ziqiu requested some assistance, Hugo should help → wip
#3806 [SofaCUDA] Explicit instantiation of ForceField class for Cuda types Include of inl classes inheriting from ForceField should be done. Another PR will be open . → closed
#3783 [StateContainer] Fix bug in dynamic data registration Check if when adding an existing alias throws a warning, merge changes and ready → keep to review
#3515 [LinearAlgebra] Pull Insimo's CompressedRowSparseMatrix into the main branch Classes for the different uses of CRS are now well separated. Index to change, breaking alias with assistance message. Breaking with SofaCUDA. → keep to review

Registration PR review

#42 Fix references for EulerExplicitSolver and Mesh2PointTopologicalMapping Some regression results were missing (because not located in the right folder, now fixed) and no error got emitted. → merged

PR merged within the week

03/05/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - Organization → REGISTER NOW!
Merge of the PR [LinearSystem] Refactor matrix assembly #2777

Technical discussions

Freeze the release branch v23.06 imminent
Issue in the RegularGrid of SOFA with Hexahedra: a workaround has been found, and an issue will be created to track the problem
Need to integrate PRs from BeamAdapter

SOFA PR review

#3821 [Components] Add functions to visualization of TetrahedronFemForceField → introduce a data for scaling the gap between the elements Instead of a showForceField data, use a VisualStyle Add the d_ prefix to the introduced data
#3806 [SofaCUDA] Explicit instantiation of ForceField class for Cuda types → wait for the user feedback
#3803 [Mapping.Nonlinear] Fix matrix assembly in RigidMapping → ready and merged
#3783 [StateContainer] Fix bug in dynamic data registration → keep to review
#3515 [LinearAlgebra] Pull Insimo's CompressedRowSparseMatrix into the main branch → to review, in particular the failing test

PR merged within the week

26/04/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - Organization
- REGISTER NOW!
- Location : Cap Digital
Reminder: new plugin for elasticity on shells using FEM
Several training sessions taking place and new dates are available

Technical discussions

Freeze the release branch v23.06 at the beginning of May
Issue in the RegularGrid of SOFA with Hexahedra where the first hexahedron is ordering the edges in a different order then the next hexahedra (next hexas are using udpateQuads())
Need to another GUI for SOFA : ImGui is not very professional/user-friendly. The project SofaQtQuick was an idea but the project is over. To be further discussed at STC!

SOFA PR review

#3823 [All] Remove trivial warnings → ready
#3822 [Rendering3D] OglModel: Use glMapBufferRange to update buffers → ready
#3821 [Components] Add functions to visualization of TetrahedronFemForceField Waiting for Ziqiu's feedback, the feature of node stress data rendered on tetrahedra and clean on if conditions should be integrated. → wip
#3815 [Visual] VisualModelImpl: Fix updateVisual() → ready
#3806 [SofaCUDA] Explicit instantiation of ForceField class for Cuda types Poke the user to test alxbilger's branch → keep to review
#3805 [Visual] VisualModelImpl: Clean and optimize slightly ComputeNormals() → ready
#3803 [Mapping.Nonlinear] Fix matrix assembly in RigidMapping A few questions are to be discussed with alxbilger → keep to review
#3783 [StateContainer] Fix bug in dynamic data registration → keep to review
#2777 [LinearSystem] Refactor matrix assembly Two related PR to merge in associated repositories (Regression and SofaPython30. Now force full-build when CI makes the last check, merge the PR. BRACE YOURSELF and report any issues related to this PR. → ready

PR merged within the week

19/04/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - Organization
- REGISTER NOW!!!
- Location information: Cap Digital, 14 rue Alexandre Parodi, Paris
SOFA application for the French national prize for Open Science
New plugin for elasticity on shells using FEM: https://github.com/SofaDefrost/Shell
Several training sessions taking place and new dates are available

Technical discussions

Freeze the release branch v23.06 at the beginning of May
Documentation for SofaCUDA : installation of the drivers should be tested on both Linux and Win. PR is opened but needs to be updated #87

SOFA PR review

#3802 [PreassembledMass] Make it external → ready
#3800 [BulletCollisionDetection] Revive project → ready
#3799 [Simulation] Suggest required plugin in the syntax of the scene loader Very useful for users! → ready
#3796 [Constraint] Add data to access constraint forces in LCPCS → ready
#3792 [Hyperelastic] Reformat files and add override attribute Just cleaning and formatting. → ready
#3783 [Sofa.Component.StateContainer] Fix bug in dynamic data registration. Changes suggested, waiting for feedback → wip
#3782 [Core.Visual, Component.Visual] Create VisualState (formerly Vec3State) Work on full-floating visualization is paused, let’s merge it as is. → ready
#2777 [LinearSystem] Refactor matrix assembly Last week, a discussion took place about some plugin compatibility. Now compilation is fixed for all plugins. The discussion also led to the conclusion that GPU codes should be opened Some issues remain about geometric stiffness to manage both forces and constraint forces. Even if no solution is implemented yet on this very specific case, the PR should be merged. A last clean will be done, then un-draft the PR and force-full-build. → to be merged

PR merged within the week

12/04/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - SAVE THE DATE Announcement email incoming!!!
- Registration will be compulsory
- Sprint topics are being listed https://github.com/sofa-framework/sofa/issues?q=is%3Aopen+is%3Aissue+label%3ASTC%2315+

Technical discussions

Freeze the release branch v23.06 at the beginning of May
Documentation for SofaCUDA should be updated : at least mentioning that CUDA12 is not supported so far (could be updated for the v23.06)

SOFA PR review

#3782 [Core.Visual, Component.Visual] Create VisualState (formerly Vec3State) In the objective to have an Ogl model fully in float for performances, this is a first step towards templating the OglModelImpl. Evaluation of performance gain on Fred’s plugin is ongoing. → keep to review
#3780 [Config] Remove suspicious Eigen macro preventing vectorization → ready
#3776 [Mapping.NonLinear] Implement missing applyJT → ready
#3774 Update CONTRIBUTING.md → ready
#3771 [SofaPhysicsAPI] Remove unreachable code Issue pointed by maddin. The return could simply be removed, as well as all GUI related code. Revert and just remove the return → wip
#3768 [examples] Introduce example and tests for SquareMapping Related to the comment in #2777, this scene and regression is testing the non-linear mappings in series → wait for the CI and then ready (regression)
#3680 [Mapping] Adds template to RigidMapping Review done → ready
#2777 [LinearSystem] Refactor matrix assembly Non-linear mappings in series are now supported. Regressions have been updated. Last todo : check that constraints are taken into account in non-linear mappings. A last discussion takes place today before the merge → keep to review

PR merged within the week

05/04/2023

News

SOFA Technical Committee in Paris from May 23th to 26th - Organization
- Email will be sent by next week (with registration link)
- Questions to members / EPIs: which dev topics to tackle
- Sprint topics are being listed here
- Dedicated page will be created and updated with all STC#15 information
Defrost team is willing to increase the training materials to level up!

Technical discussions

Freeze the release branch v23.06 at the beginning of May

SOFA PR review

#3761 [Mapping.NonLinear] Fix SquareMapping applyDJT Test added which was failing due to a misimplementation in the SquareMapping when a K cached matrix was not stored → ready
#3757 [examples] Apply rest position in mappings Could be nice to see the impact of applyRestPosition=True as a default value → ready
#3756 [examples] Introduce examples for DistanceMapping and SquareDistanceMapping → ready
#3751 [plugins] ArticulatedSystemMapping : adds size check & fixes typo Callback has been properly added → ready
#3680 [Mapping] Adds template to RigidMapping Looks good! Last reviews are being done → keep to review
#2777 [LinearSystem] Refactor matrix assembly Two tasks ongoing: on geometric stiffness: combination of non-linear mappings is not working for now (to be done in a next PR) on geometric stiffness: take constraint forces into account generate the references for the regressions → wip

PR merged within the week

29/03/2023

News

New developers incoming in the community
Organization of the STC : topics of the coding sprint will be discussed next week
Next events:
- CMBBE SOFA workshop in Paris
- STC#15 in Paris
- SoFraSimS in Nice
- VivaTech in Paris

Technical discussions

Merge #2777 is imminent: test next week

SOFA PR review

#3755 [Tests] S.Components tests compiles with SReal=float → wait the CI, ready
#3754 [Spring] Remove variable redefinitions → ready
#3753 [Type] Support structured binding for type::fixed_array Only supported by MSVC → wait CR then ready
#3751 [plugins] ArticulatedSystemMapping : adds size check & fixes typo we discussed about a solution: a callback including the validity check could be added on the data so that we are sure about the validity anytime → wip
#3749 [GUI.Qt] Register meta type to fix asynchronous Qt call Highlight the low quality of the GUI, looking forward to new work on GUI! → ready
#3741 [Helper] Deprecate constructor of OptionsGroup Conflicts to solve and to be rebased. → keep to review
#3740 [Mapping.NonLinear] Geometric stiffness method in an OptionsGroup For non-linear mappings, the option group becomes a data. A new PR will be done to create an intermediate class (NonLinearMapping and NonLinearMultiMapping) from which all non-linear classes must inherit. → ready
#2777 [LinearSystem] Refactor matrix assembly Only remaining a regression on BeamForceFieldTest. Maybe due to the improvement of penalty forces taken into account with a direct (assembled) linear solver. → still to review until the end of next week (April, 7th)

SofaPython3 PR review

#336 Support dev environments on Windows → ready

PR merged within the week

22/03/2023

SOFA PR review

#3740 [Mapping.NonLinear] Geometric stiffness method in an OptionsGroup Unit tests are failing → wip
#3738 [applications] rename shadow variable → ready
#3737 [Helper] Improve OptionsGroup Unit tests are failing → wip then ready if fixed within the week
#3680 [Mapping] Adds template to RigidMapping PR does not compile. Need thorough review. But the idea of the PR is accepted → keep to review
#2777 [LinearSystem] Refactor matrix assembly Todo: highlight the most important code → keep to review

PR merged within the week

15/03/2023

SOFA PR review

#3714 [Core] TLink: Fix warnings about comparisons between unnamed enums → ready
#3713 [GUI.Qt] Clean and fix in the "inspector" panel → ready
#3711 [all] Remove a bunch of warnings → ready
#3706 [LinearSolver.Direct] Make sure the matrix is factorized in SparseCholeskySolver → ready
#3703 [Collision.Geometry] Replace comparison operator for deterministic sort → closed
#3693 [Helper] Fix FileRepository::relativeToPath → ready
#3691 [Spring] Check for nullptr in RestShapeSpringsForceField Reviews taken into account → ready
#3687 [Collision] Make the (CubeModel) BoundingTree deterministic No more regression → ready, but PR #39 in Regression must be merged first
#2777 [LinearSystem] Refactor matrix assembly → keep to review

PR merged within the week

08/03/2023

Technical discussions

[Collision] Make the (CubeModel) BoundingTree deterministic
- https://github.com/sofa-framework/sofa/pull/3703
- #3687 is selected to be merged (code is cleaner, easier to understand and performances difference are probably negligible. Remains to be done: re-generate the regression results.
[InterventionalRadiologyController] Revert sampling change of behaviour Change of behavior introduced in https://github.com/sofa-framework/BeamAdapter/pull/62. A fix to restore the previous behavior in: https://github.com/sofa-framework/BeamAdapter/pull/88. The fix must be tested on scenes using the components. Decision on the merge will be taken next dev meeting

SOFA PR review

#3702 [IO.Mesh] Fix mesh creation if load called multiple times This PR indicates that doLoad is called twice. It is called twice because the callback calls itself. The Data is edited whereas it is an output of the callback. The use of a WriteOnlyAccessor instead of WriteAccessor (or beginEdit) fixes this issue. Ready An issue must be created to warn that a WriteAccessor (or beginEdit) cannot be used in a callback -> https://github.com/sofa-framework/sofa/issues/3709
#2777 [LinearSystem] Refactor matrix assembly Reviews are required → keep to review
#3309 [Sofa.Core] Refactor BaseObject::canCreate & BaseObject::create → wip
#3687 [Collision] Make the (CubeModel) BoundingTree deterministic Wait for regression results → keep to review
#3691 [Spring] Check for nullptr in RestShapeSpringsForceField instead of invalidating the component, return silently → wip

SofaPython3 PR review

#337 Fix test according to the fix of string creation Depends on https://github.com/sofa-framework/sofa/pull/3702 → keep to review
#336 Support dev environments on Windows Ready but to test with the installed SOFA. → ready
#335 Prevent division by zero Exception must be thrown if nfo.size() is zero. If nfo.size() is zero, it must indicate a bug in SOFA. Need to be investigate to locate the bug. → keep to review

PR merged within the week

01/03/2023

News

Organization of the STC#15: more information coming very soon!!

Technical discussions

Work on CMake in Caribou plugin and associated SofaPython3 plugin by Rémi
Discussion about FEM for continuum mechanics: TetahedronFEMForceField vs TetrahedralCorotational no more differences
- TetrahedronFEMForceField proposes linear elasticity in small deformation, a corotational approach for large displacement, a corotational-SVD approach
- TetrahedralCorotationalFEMForceField proposes the same with without factorizing code from TetrahedronFEMForceField (no inheritance). Erik started a work of factorization with TetrahedronFEMForceField
- FastTetrahedralCorotationalForceField: results differ due to code optimizations/approximations

SOFA PR review

#3692 [MechanicalLoad] Stupid check for consistency between state and topology → ready
#3691 [Spring] Check for nullptr in RestShapeSpringsForceField componentState to be added → wip
#3690 [FEM.Elastic] Check for nullptr in BeamFEMForceField → ready
#3687 [Collision] Make the (CubeModel) BoundingTree deterministic The use of stable_sort is slower than the basic sort. While having a deterministic result is expected for CI and for industrial applications. A more efficient while deterministic approach could be found like an additional check on other dimensions in the comparison operator. Test and benchmark should be done. → to be rediscussed
#3685 [all] Simple robustification → ready
#3684 [SofaCUDA] Remove BeamLinearMapping<Rigid3fTypes,.> → ready and fast merge
#3683 [Analyze] Raw pointers to Links In an effort of generating the documentation, Alex fixed components crashing at initialization without data input. Paul noted that AverageCoord might be wrong for the Quat parts since a statistical average should be computed. PR to come → ready
#3682 [all] Give reason when component cannot be created Clean is needed to clean the reason why a component cannot be created. Logs therefore are added, highlighting the fact that canCreate functions are sometimes copypasted. #3309 and #3311 were also going in this direction. #3309 factorizing this part of the code is set back to review. → ready
#3680 [mapping] RigidRigidMapping: fixes init Feedback on the code given to Eulalie, and Paul will take a look → keep to review
#3677 [Simulation] Error when trying to load a non-existing file Tests are added. → ready
#2988 [All] Propose a new gravity API Not enough convincing arguments to bring such a breaking feature into SOFA. → close after STC#15
#2777 [LinearSystem] Refactor matrix assembly Geometric stiffness is managed even for mapped non-linear mappings. Only current implementations of non-linear mappings are strange in several codes (like RigidMapping, where geometric stiffness behavior is deactivated by default) → stay tuned

PR merged within the week

22/02/2023

News

Organization of the STC days in Paris
- Location being defined
- !!! Dates will be changed : 23 → 26th May !!!
A new graph to present how to contribute code projects in the dev process of SOFA: Contributing guideline

Technical discussions

ALL PR must be first rebased with #3672 to check the tests
Lifecycle for v23.06 is being prepared
Log mutex locked twice (leading to crash) · Issue #3610
Qt error is catched and displayed with msg. This creates a msg within another msg which generates a double mutex. Recursive mutex could solve it but it looks more like a design issue. We should maybe avoid forwarding messages within a SOFA msg
Work on non-linear mappings continues: RigidMapping has been reviewed. An API is still there (getK(), a data geometricStiffness) but seems to be broken. The implementation should be assessed

SOFA PR review

#3672 [Helper] ArgumentParser: Fix map insertion when parsing more than once Arguments of SOFA seem not to consider the path of a file if the arguments are given before the file path. Several scenes fail. It needs to be investigated and fixed in another PR → ready & merged
#3671 [Helper, GL] Fix various memleaks MeshTopologyLoader uses the FactoryMesh::create function which creates a pointer but does not delete it. More generally MeshTopologyLoader #42 mention the fact that this part of the code should be deprecated (but it is still used in SparseGridRamification) → ready
#3670 [MechanicalLoad] Fix ConstantForceField when no force given In the initData of the d_force data, it should be set to an explicit default value → wip
#3668 [MultiThreading] Implement addDForce in ParallelStiffSpringForceField → ready
#3666 [Helper,Geometry] Move proximity classes into free functions → ready
#3665 [Core] Use std::function for Link's Validator (and fix UB) → ready
#3664 [Core] Fix UB (misaligned address) when comparing string → ready
#3655 [all] Lifecycle v23.06 4/n Wait for CI and merge → keep to review
#3654 [all] Lifecycle v23.06 3/n → ready
#2777 [LinearSystem] Refactor matrix assembly Should not wait for the integration of the feature of geometric stiffness. Few fixes to be done and then ALL should test their scene with this new API. → keep to review

SofaPython3 PR review

#333 Extract testing features from the main library → ready

PR merged within the week

15/02/2023

News

Discussion about the organization of the SOFA Technical Committee (STC)
Update about Jessy’s internship
Contributing guideline: a new scheme will be proposed to clarify the discussion & contribution process
Gitter moved to [Matrix]. TODO : add widget for recent activity

Technical discussions

Cuda async template unavailable #3644
Template auto-instantiation caused a problem with CUDA. The role of template auto-instantiation should be re-discussed while the current fix removing the replacement of CRS_f to CRS_d is satisfactory for now. Update on the Caribou plugin: CMake of the SofaCaribou is being made similar to SOFA. For Caribou, CMake macros are not doing what is needed on Windows with python
CUDA : review the content of SofaCUDA and make it compatible with other plugins (Defrost)
CI : idea of STC discussion could be to clean all tests/scenes on the CI

SOFA PR review

#3650 [SofaCUDA] No longer use deprecated texture references in TetraTLED Texture references have been disabled. Texture object could also have been used but it would have needed a dense refactoring. So a GPU pointer has been preferred. Fred will test the PR, Hexahedron is to be done. → keep to review
#3649 [all] Lifecycle v23.06 2/n Wait for #3634 → keep to review
#3635 [Scenes] Use "floating-point type"-independent templates → ready
#3634 [all] Lifecycle v23.06 1/n → wait CI and then ready
#3627 [Sofa] Remove warnings Remove both attribute [ [ maybe_used ] ] and the variable itself which does not seem to be actually used in the computation → back to wip
#3535 [all] Lifecycle v22.06 Considered as ready → ready
#2777 [LinearSystem] Refactor matrix assembly Will be rebased and tested in the next days → keep to review

PR merged within the week

08/02/2023

News

2-week Jessy's internship on SOFA with investigations on pip install / conda install (SOFA deployment for python environment)
Training material getting updated (continuum mechanics with Caribou)
Soon, Inria Days on HPC : topic of resolution of linear systems could be of interest. We'll keep you updated!
Events: SOFA has the opportunity to attend Vivatech & SoFraSimS 2023

Technical discussions

CI slaves : validity date extended Strange behavior using PenalityContactForceField with flashing contact point Update on the Caribou plugin Several repositories where CMake macros needed changed
Several questions risen
- On Windows, why dlls are not copied in bin/ in when installing (unless, executing runSofa is impossible)
- On Windows, why keeping the folders Release/Debug/...
- Why the rules sofa/cmake/Module/windeployqt.cmake specify specific rules for the folders "resources" et "location"?
What has been tested
- In-tree compilation (Windows / Linux(wsl/debian))
- Use of Python bindings (Windows / Linux(wsl/debian))
Remains to be tested
- MacOs
- Out-of-tree compilation

SOFA PR review

#3629 [Component.Engine] Replace some explicit instanciations on double with SReal → ready
#3628 [Sofa.framework] Compile and run tests when SReal is float → ready
#3627 [Sofa] Remove warnings Suggestion made → keep to review
#3626 [Collision.Response.Contact] Implement addKToMatrix for PenalityContactForceField Check force derivation but impossible to test in a simulation since the feature is not available before #2777 → keep to review
#3625 [Contributing] Update file to mention good first issue → ready
#3624 [Tutorials] Fix CMake with Sofa.GUI Compilation error due to missing updates includes → wip
#3620 [Simulation.Graph] SimpleAPI: Remove reference to Node argument in createChild() → ready
#3607 [MultiThreading] Factorize task scheduler user Compilation has been fixed (decoration with deprecation was creating the error) → ready
#3605 [SofaCUDA] Reorganize following SOFA structure (2/n) Merged first #3601 → keep to review
#3601 [SofaCUDA] Reorganize following SOFA structure (1/n) Discussion on namespace (for code *.cu) will be updated later → ready
#2777 [LinearSystem] Refactor matrix assembly PR is getting cleaned and updated (reason why the #3626 has been created). Before merging it, Alex would like to make sure that mapped non-linear mappings. InteractionForceFields are now working with the new API. However, performance and pattern-constance awareness are now paused. This could be done later. → keep to review

PR merged within the week

01/02/2023

News

New consortium member! University Clermont Auvergne interested in stent simulation, thanks for their support
New opensource plugin coupling SOFA - Unreal Engine released by InfinyTech3D
New tutorial on parallelism in SOFA from Alexandre
Training sessions going on! Check online for next dates
Work on Caribou get restarted!

Technical discussions

[BeamAdapter] Change of behaviour in InterventionalRadiologyController #87 Bug has been identified for beams that are not visible, the computation using the curvilinear abscissa fails → a PR will be submitted by Camille with his python script possibly fixing the issue

SOFA PR review

#3612 [SofaPhysicsAPI] Fix compilation by replacing use of SofaGUI by sofa::GUI::common → ready
#3611 [Cmake] Update warning replacement message for deprecated macro sofa_add_XX → ready
#3607 [MultiThreading] Factorize task scheduler user Work factorizing and cleaning the code but compilation fails → wip
#3605 [SofaCUDA] Reorganize following SOFA structure (2/n) Wait for #3596, apply the new architecture using SofaCUDA → let it to review waiting for Alex feedback
#3601 [SofaCUDA] Reorganize following SOFA structure (1/n) New architecture validated: SofaCUDA/component/… namespace sofa::gpu::cuda remains for utility code, to be discussed if we want to keep it → to review
#3596 [MultiThreading] Parallel springs Reviews taken into account → ready
#3590 [Collision.Detection] Rename DefaultPipeline into CollisionPipeline Use SOFA_DEPRECATED_ATTRIBUTE instead → wip

SofaPython3 PR review

#332 Update cmake.in to fix configuration step → ready and merged

PR merged within the week

25/01/2023

News

SOFA v22.12 is out, experience it!
Community recruits!

Technical discussions

Coupling of SOFA and Unreal Engine is coming soon!
Caribou plugin: new investigation on CMake and FEM
Soon a tutorial video on coding with Multithreading plugin in SOFA
Float compilation: all scenes are usually using template=Vec3d we should use the SReal version template=Vec3 allowing us to test the float cases. Is float really useful? Remark added in #3451

SOFA PR review

#3601 [SofaCUDA] Reorganize following SOFA structure (1/n) This PR does not change the namespaces, it only moves the files into the SOFA architecture and it adds a compatibility layer. SOFA_ENABLE_LEGACY_HEADERS variable is used to activate the compatibility layer. → approved but let open for further review (<7 days)
#3599 [MultiThreading] Prepare data for rendering in parallel → ready
#3598 [MultiThreading] Reorganize following SOFA structure Plugin proposing code is now following the architecture of SOFA. SOFA_ENABLE_LEGACY_HEADERS variable is used to activate the compatibility layer. → ready
#3597 [Simulation] SceneCheck can be added in plugins This PR arises from the fact that we want to invite more users to use codes from the Multithreading. SceneCheck is generalized. We discussed the fact that in the Multithreading plugin components are named MultithreadingNameOfChildClass: the SceneCheck now suggests to use this verbose component name. Discussion took place on the suggestion to use such code, should the MT classes be aliases of the sequential code, should the user have a boolean threaded data option that would activate one or the other version. → ready
#3596 [MultiThreading] Parallel springs Note on the call super. #3317 was a PR testing a new design. Call super issue open in #785. Work todo: use modern accessors instead of beginEdit → wip
#3595 [GUI] Fix CMake Packaging → ready
#3592 [defaulttype] Template aliases for CRS matrices Related to issue #3451 → ready
#3590 [Collision.Detection] Rename DefaultPipeline into CollisionPipeline To be rebased → wip
#3588 [examples] Apply Sofa/Component structure for all examples To be rebased → wip
#3586 [LinearAlgebra] Factorize rotateMatrix in RotationMatrix Iteration process of the loop updated → ready

PR merged within the week

18/01/2023

News

SOFA v22.12 is out, experience it and share your feedback!
Tutorial on how to contribute a bug fix in SOFA?

Technical discussions

STLIB SPLIT: a discussion could take place to evaluate the need to bring it back into SofaPython3 and discuss its format
Interest of having SOFA installer with conda

SOFA PR review

#3590 [Collision.Detection] Rename DefaultPipeline into CollisionPipeline Additional c++ error when using the old class and new namespace → wip
#3588 [examples] Apply Sofa/Component structure for all examples Scene tests are failing / crashing → wip
#3586 [LinearAlgebra] Factorize rotateMatrix in RotationMatrix We could find a way to explicit the type and the iteration process of the loop. Comment upcoming → keep to review then ready
#3581 [plugins] rename shadow variable → ready
#3575 [Core] Display flags spelling suggestion → ready
#3574 [MultiThreading] ParallelBruteForceBroadPhase: Fix assertion error Could be replaced by the parallelForEach in another PR → ready
#3572 [Multithreading] 2 steps to maximize coalescing memory access Conflicts. ParallelHexa had a naive approach (each thread with its own memory then serially assembles the result). Loop is now done over the nodes then requesting the surrounding elements. Implementation could be extended to the addForce (even if not the computational bottleneck) → wip
#3570 [all] Fix some warnings further v22.12 → ready
#3556 [LinearAlgebra, LinearSolver.Direct] make getSubMatrixDim() compile-time constant Parse function should warn when using the removed Data blockSize 🙏 Then, without additional feedback, will be merged → wip
#3550 [GUI] GUI libraries as plugins → ready
#3526 [All] Fix example scenes showing warnings or errors Error opening file particleGravity.data → wip
#3465 [Helper] Use DataTypeInfo in NameDecoder CI started, seems ok → ready

SofaPython3 PR review

#329 [doc] Update SofaPython3 plugin documentation

PR merged within the week

11/01/2023

News

SOFA v22.12 upcoming this week
SOFA Week 2022 - Symposium and STC#14 recordings available on YouTube

Technical discussions

[Sofa.LinearAlgebra] Pull Insimo's CompressedRowSparseMatrix into the main branch (#3515) Working branch only two tests were giving different results on non-zero values in CRS (python test check_matrix). Else useful and improving performance! Failing tests to be investigated.
[MultiThreading] Implement domain decomposition for a lock-free parallelism (#3566) Make a ForceField parallel using domain decomposition (it is therefore only useful in an unbuilt CG): within one domain we cannot have twice on the same node. The decomposition is done at init. After fixing a bug in the benchmark, the performance gain is not as good as expected … The investigation led to an PR improving the naive version.
Doc SofaPython3: a new way to generate the doc with sphinx and send it to readthedoc, using GitHub has to be investigated (#329)

SOFA PR review

#3576 [CollisionOBBCapsule] Fix generation of configuration file for installation → ready
#3573 [Project] Start v23.06 dev phase Waiting for the release to be completed (possible change in CHANGELOG if anything is backported) → keep to wip
#3565 [Sofa.Config] Remove unused SOFA_WITH_THREADING option → ready
#3563 [FEM.Elastic] Consistent default values for poisson's ratio and Young's modulus → ready
#3561 [SofaEulerianFluid] Fix: rename shadow variable in Fluid2D → ready
#3559 [Sofa.Type] Quat: small optimization for axisToQuat() → ready
#3556 [LinearAlgebra, LinearSolver.Direct] make getSubMatrixDim() compile-time constant Could affect some private CUDA codes. Notify devs → keep to review
#3552 [MultiThreading] Introduce ParallelTetrahedronFEMForceField Merge #3548 first then ready → ready
#3550 [Sofa.GUI] GUI libraries as plugins Great work from Fred: runSofa was considering that Sofa.GUI was in charge of loading the libraries. This has been cleaned and now
- Qt/Batch/HeadLessRecorder are loadable plugins and register themselves in the GUIManager, if loaded .
- Batch is still forcefully loaded by runSofa
- SofaGui is officially deprecated → keep to review until next week
#3548 [Core] Introduce parallel for each Will be merged this week! → ready
#3541 [StateContainer] Avoid code duplication in MechanicalObject Report no visible change on either the speed or the accuracy → ready
#3536 [DefaultType] RigidCoord/Deriv become iterable Devs are circumspect about the iteration of two different things : Position and Orientation. → close
#3534 [all] Lifecycle v22.12 → ready

SofaPython3 PR review

#329 Update SofaPython3 plugin documentation Firstly regenerate doc and see how to connect with readthedoc. Comments given → wip

PR merged within the week

04/01/2023

News

SOFA v22.12 release process ongoing Last PR needed to be merged: #3534 #3535

Technical discussions

CI MacOS using python has an issue, a workaround is proposed here, do not hesitate to apply it in your own plugin repositories. This might be fixed later (python action or homebrew)
Use of external libraries could be considered to implement C++ code compatible with any accelerating architecture (GPU, multithreaded CPU etc). Sycl is an interesting example (Intel, Khronos)

SOFA PR review

#3548 [Core] Introduce parallel for each Nice work to avoid the boiler plate code of Task with the old TaskScheduler. Tested and applied in BeamAdapter by Fred → ready but notify other reviewers to give them time to review/read
#3545 [FEM.Elastic] Fix unit tests warnings → ready
#3541 [StateContainer] Avoid code duplication in MechanicalObject Performances will be tested in the coming days → keep to review
#3536 [DefaultType] RigidCoord/Deriv become iterable Need to know more about the utility, get back to Alex → keep to review
#3535 [all] Lifecycle v22.06 For DISABLED macro, we must make sure that the compilation fails using =delete or DepreactedAndRemoved → back to wip
#3526 [All] Fix example scenes showing warnings or errors Milestone v23.06, deeper review needed (400 files changed) → keep to review
#3501 [Solver.Direct] Unit test on topological changes leading to empty system → ready

SofaPython3 PR review

#328 [CI] Fix mac ci with homebrew workaround → ready
#327 Add unit test for Mass multiple inheritance → ready

PR merged within the week

14/12/2022

News

SOFA v22.12 release is postponed due to sick leave of the release manager Sorry for the delay!

Technical discussions

CI with macos-3 is down again Future investigation on why the comm macos-3 ↔ jenkins fails is needed
CGAL was disactivated see commit Consider reactivating CGAL plugin on the CI when the CI will be fixed

SOFA PR review

#3526 [All] Fix example scenes showing warnings or errors Has not been reviewed yet. Need more time. Will probably not be ready for v22.12 → keep to review
#3535 [all] Lifecycle v22.06 Changes requested → wip
#3534 [all] Lifecycle v22.12 Changes requested → wip
#3465 [Sofa.Helper] Use DataTypeInfo in NameDecoder Wait for CI then ready but wait for v23.06 → ready / postponed

BeamAdapter PR review

#84 Remove deprecation warnings Approved → ready
#80 Restore BeamLengthMapping Restored for now, but don't know what this component does. To deprecate later if needed. → keep to review
#50 [Mapping] Clean and optimize AdaptiveBeamMapping Still decisions to take on the support of std parallelism → keep to review

SofaPython3 PR review

#326 Remove v22.06 for the CI → ready and merged
#325 Fix: mass binding is defined to have multiple inheritance → ready and merged

PR merged within the week

07/12/2022

News

SOFA v22.12 freeze of branch today, release process will start right after this branch creation
Next week is the last 2022 meeting! We are now preparing the 2023 agenda (exact dates are being validated)
HackaTech in Grenoble in January

Technical discussions

Integration of matrix assembly branch: further to STC, the conclusion was that the interaction between several objects is a feature which is interesting to keep. There is therefore still work to do and this branch will not get into the release however it should be merged in master as soon as possible (January is targeted).
PRs respecting the lifecycle are open: #3534 & #3535
Label "pr: test" is added

SOFA PR review

#3529 [LinearSolver.Direct] Segfault in SparseLDLSolver due to empty system matrix Damned let's rebase it and re-run the CI. After doing it: fix are legit and must be fixed. → back to wip
#3526 [All] Fix example scenes showing warnings or errors Not ready yet, let's see if it has to be in v22.12.00 or to be later backported in v22.12.01. Comments done. → keep to review
#3520 [SofaPhysicsAPI] Add several methods using output parameters To be rebased, commented → wip
#3519 [SofaPhysicsAPI] Some small cleaning and add access to VisualModel* →ready
#3491 [Simulation] Worker threads are no longer static Rebase made the diff way clearer. Wait for CI then ready → keep to review
#3482 [Simulation] Task scheduler can accept callable Wait for CI then ready → keep to review

SofaPython3 PR review

#316 Add a counter to memcach so that we can detect data change Fix needed when we use the cache of SOFA data loaded into python. The unit test had an issue but not emitting a proper test error. A benchmark comparing the use and no use of this cache in term of performance would be really nice. → ready
#315 [SofaConstraintSolver] Add bindings to set W, lambda and dfree PR is a nice hack which is being tested by various users. API of SOFA needs to be updated and would therefore need more work. Let's keep it → to review + experimental
#314 [Sofa.Core] Add spelling suggestion to addObject & addChild → ready

PR merged within the week

30/11/2022

News

Preparation of the 2023 agenda: make your 2023 events known! Share them with us: [email protected]

Technical discussions

Discuss the creation of the v22.12 branch and freeze for release
- Branch will be created and frozen
- Notify us for any upcoming contributions to be integrated
- Only pending contribution we are aware of: matrix assembly
Contribution process for large contribution (breaking / incompatible with SOFA)
- A scheme presenting the process for integration of such contributions could be formalized
Erik PR for v22.06: the very same branch will be created and merged in the SOFA repository

SOFA PR review

#3508 [FEM.Elastic] Clean draw method → ready
#3505 [VectorTypeInfo] Change default handling of data buffer → ready
#3491 [Simulation] Worker threads are no longer static Sounds good but PR needs a rebase, it will ease the review → keep to review
#3482 [Simulation] Task scheduler can accept callable Sounds good but PR needs a rebase, it will ease the review → keep to review
#3480 [Simulation] Separate factory code from TaskScheduler → ready
#3465 [Sofa.Helper] Use DataTypeInfo in NameDecoder Test failing →back to wip

SofaPython3 PR review

#318 [DataHelper] Change default access of vector data buffer → ready
#316 FIX Issue 313 Set a proper title, CI jobs restarted → keep to reveiw
#315 [SofaConstraintSolver] Add bindings to set W, lambda and dfree Awaiting reply to comment → keep to review
#314 [Sofa.Core] Add spelling suggestion to addObject & addChild. Update of pybind11 required, to be done but not urgent (no time currently, sorry) → keep to review

PR merged within the week

23/11/2022

News

Update further to the SOFA Week 2022: 231 registered participants!!!
- Training working smoothly
- Symposium
  - Hard to motivate people to contribute → does not produce a real contribution
  - Consortium : could present the community activity worldwide
  - Nice event showing the activity of international partners, mostly users
  - Inria : would be nice to have general presentation of the team
- STC
  - No real dynamics, hard to embark new people
  - Coding-sprints : should we skip it or make it separated?
  - Coding-sprints : onsite event should help
  - Coding-sprints : STC tasks too large / complicated – coding sprint more focused !
  - Coding-sprints : e.g. a week with a scrum organization
Preparation of the 2023 agenda: make your 2023 events known!
Accompany new users and make them become developers
- Weekly meetings : open to all (including Inria teams)
- Support + companionship till the contribution
- At the SOFA dev → presentation of technical topics, one topic per month, upvoted by the students/engineers

SOFA PR review

#3476 [MultiThreading] Clean file format → ready
#3474 [Lagrangian.Solver] Merge duplicated code into small but expressive functions → ready
#3471 [Visual] Introduce TrailRenderer → ready
#3465 [Sofa.Helper] Use DataTypeInfo in NameDecoder Unit and scene tests are failing due to Ogl → wip
#3357 [all] Remove in-class typedefs pointing to common sofa::type Test is failing. GItHub diff is unclear. [ci-build][force-full-build] to see if the test is related to the PR. → keep to review

PR merged within the week

09/11/2022

News

SOFA Week 2022 : next week!!! Already +185 registered participants and program all available online
Release manager needed! Share all our job offers
STC #14: add the topics you would like to address in discussions

Technical discussions

Timer for debug only has been increased by Fred
A new test is failing : RemovingBilateralInteractionConstraint.scn on MacOS

SOFA PR review

#3465 Use DataTypeInfo in NameDecoder Refactoring could be done in NameDecoder to keep only string resolution from the compiler, but for class template, the code could be moved in BaseClass using defaulttype. Damien will work on it → wip
#3464 Revert "[Sofa.Core] Linear time getRoot() method in BaseNode and Node" Breaks some scenes with a diamond (node with multiple parents). Issue reported in #3469 https://github.com/sofa-framework/sofa/issues/3469 → ready
#3462 [DefaultType] fix rigidcoord compilation Follows #3424 → ready
#3461 [DefaultType] Remove template aliases Might be closed since #3465 has been opened. → closed
#3456 [GUI.Qt] Restore Stats (Charts) and DocBrowser for Qt6 We know fully support Qt6, we should update the doc accordingly. → ready
#3454 [GUI.Qt] Restore QGLViewer for Qt6 → ready
#3452 [image, Component.FEM, Component.LinearSolver] fix Eigen3 assertion with SVD → ready
#3424 [Helper] Add mutex in IdFactory Not sure it solves any problem and it might degrade performances. A full refactoring of AdvancedTimer should be the objective to make it simple, thread-safe and shiny! → close
#3422 [Helper] Portable thread local storage duration Go for it! AdvancedTimer may not itself be thread-safe (and a pretty complex class) → ready
#3360 [DefaultType] fix rigidcoord compilation It would be nice to have an associated test. Translation in 3,3 case is not supported (toMatrix gives only a rotation matrix). This PR fixes the compilation → ready
#3357 [all] Remove in-class typedefs to Vector3 Types with new naming are proposed. Should be moved in another PR → wip
#3042 [Core, Helper] Add spelling suggestion in ObjectFactory Checking spelling is nice, a single header only lib has been added. A test is added as well. → ready

PR merged within the week

02/11/2022

News

SOFA Week 2022 in two weeks, time to RE-GI-STER
Release manager needed! Share all our job offers

Technical discussions

Timeout seems to occur in debug, Fred suggested to increase the timer for debug only
Backport of PRs should be done and a tag v22.06.01 should be created
A discussion about a "SOFA 2.0" is scheduled on day 2 of the STC (Thursday 17th). Do not hesitate to join and create your SOFA wish-list
Types in SOFA: internal type in class or SOFA type::
- When to use internal types
- Define a naming convention for internal types (through a PR in doc)
- Issue of manpower: how to propagate this change among many other

SOFA PR review

#3448 [Simulation.Core] Clean Multithreading code → ready
#3439 [plugins] Fix warnings in SofaSphFluid and image Message should not be addressed to users, the drawing should just be invalidated → wip
#3436 [Sofa.Config] CMake: Remove "both" as a choice for SOFA_FLOATING_POINT_TYPE parameter → ready
#3435 [All] Fix compilation with float as floating_point_type Nice! Compilation and running the caduceus scene with floats is fixed. FYI no performance gain. Use of signature using SReal → ready
#3428 [core.topology] Add mechanism to check checkTopologyInputTypes Reviewed and approved → ready and merge
#3424 [Helper] Add mutex in IdFactory Linked to #3422 → keep to review
#3422 [Helper] Portable thread local storage duration A priori (Francois J.) since C+11 a thread-safe instantiation is done when initializing a static variable While here using thread_local, it creates one static variable per thread. AdvancedTimer may not itself be thread-safe. Error might come from a concurrent writing of new events in a map in AdvancedTimer. → keep to review
#3413 [solidmechanics.fem] Clean and optimise TriangularFEMForceField draw method → ready
#3404 [Core] Convert warning to error in object factory Conflicts to be solved. → wip
#3369 [Topology] Fix topologyHandler removal New mechanism with a set storing the registered topologies → ready
#3368 [Topology] Add fonction in BaseMeshTopology to compute all topology containers Two tests are failing and a comment to be added → wip
#3357 [all] Remove in-class typedefs to Vector3 Compilation issue in tests and bindings. Moreover, types with new naming are proposed. Should be discussed with all. If so, PR title should be updated. → wip
#3339 [Mapping] Add checks at init in TopologicalMapping CanCreate of TopologicalMapping calls findLinkDest() which checks the link at creation and if not found, the search continues in parent nodes. Issue #3449 created. To be rebased once #3428 is merged, then if CI agrees ready → keep to review
#3329 [Constraint.Lagrangian] Update BilateralInteractionConstraint to support topological changes Test has been fixed. New force full build (QuaterAngle test strangely failing). → keep to review

PR merged within the week

26/10/2022

News

SOFA Week 2022: 20 days to register! 14-18th November
Jobs: our community recruits massively
We should take part in NAFEMS 2022 on November 24th

Technical discussions

Topics of discussion must be added in preparation of the STC#14

SOFA PR review

#3427 [SofaNewmat] Fix modules → ready
#3426 [helper.accessor] Support more std vector methods in WriteAccessorVector → ready
#3423 [SofaMatrix] Update plugin CMakeLists to avoid strong dependency on Qt → ready
#3421 [image] Remove example scenes requiring Flexible plugin → ready
#3420 [FEM.Elastic] Speedup hexa drawing in force field → ready
#3418 [Lagrangian.Solver] Add events in the constraint solver pipeline Code in ConstraintSolver should really be separated between core code (in a renamed BaseConstraintSolver class) and the implementation ConstraintSolver. → ready
#3413 [solidmechanics.fem] Clean and optimise TriangularFEMForceField draw method Review : maybe to create a dedicated function called in addForce. To be discussed in PR. → keep to review
#3412 [TriangularFEMForceField] Avoid double write access to the TriangleInfo Data in Review done, but not 7 day old. → ready
#3408 [Topology.mapping] Types cleaning in Edge2QuadTopologicalMapping → ready
#3407 [SofaCarving] Update and add more tests in SofaCarving_test → ready
#3404 [Core] Convert warning to error in object factory Scenes to be ignored : error is due to the fact that now CI detects the not-compiled templates. However, the compilation time with these templates increases significantly. → wip
#3401 [Sofa.Core] VecId: move definition of VecTypeLabels in its own Translation Unit → ready
#3398 [Engine.Analyze] ClusteringEngine: set correct values in load() → ready
#3393 [Lagrangian.Solver] Deprecate MechanicalAccumulateConstraint Restart force full build → wait for CI
#3369 [Topology] Fix topologyHandler removal → wip
#3368 [Topology] Add fonction in BaseMeshTopology to compute all topology containers Scene test is failing and function naming to be improved → back to wip
#3339 [Mapping] Add checks at init in TopologicalMapping New approach proposed in the TopologicalMapping to make the checks on input/output topologies. Some missing implementation and find a solution to get the topological element name from enum class. New review needed → wip
#3329 [Constraint.Lagrangian] Update BilateralInteractionConstraint to support topological changes Test on MacOS failing → back to wip, must be
#3299 [all] Replace all Vector2, Vector3, Vector4 by their short name alias Vec2, Vec3 branch is protected. Please open it so that we can update and your PR → wip
#3242 [Core] Make some functions non-virtual Await for regression PR to be merged → keep to review

Registration PR review

#2 [CMake] Fix NG compil without compat → closed
#4 getTemplateName is no longer virtual merge master and rebuild → keep to review
#5 Restore tests and add test on getTemplateName → merged
#7 Remove example scenes requiring Flexible plugin → merged

PR merged within the week

19/10/2022

News

[SOFA Week 2022] More than 130 participants registered already, spread the word!
First PR from Leo Hunout on the SofaGym project!

Technical discussions

CI issues on MacOS, solved by reboot
STC #14: add the topics you would like to address in discussions
#3288 [all] Removal of datatype info from Data.h (step 2) → Damien presented the PR and no objection was raised, only a few minor suggestions. Need to keep working on it to complete the PR.

SOFA PR review

#3386 [all] Implement getModuleComponentList for most modules → ready
#3376 [Simulation] Change LoadFromMemory signature to remove unused parameter Size → ready
#3373 [Helper] Deprecate error-prone resize and add emplace_back → ready
#3369 [Topology] Fix topologyHandler removal Test are failing → back to wip
#3368 [Topology] Add fonction in BaseMeshTopology to compute all topology containers Scene test is failing and function naming to be improved → back to wip
#3360 [DefaultType] fix rigidcoord compilation Changes requested → back to wip
#3358 [Core] STL parallelism support Postponed until support of Ubuntu 20.04 is dropped → postponed
#3356 [All] Reduce calls to getValue Conflicts to solve → If conflicts are solve: ready
#3345 [Config] Option to enable interprocedural optimization → ready
#3335 [LinearAlgebra] Remove unused operations on BaseMatrix Postponed because code could be used in private plugins → postponed
#3329 [Constraint.Lagrangian] Update BilateralInteractionConstraint to support topological changes one last tiny change and ready → to review
#3299 [all] Replace all Vector2, Vector3, Vector4 by their short name alias Vec2, Vec3 A unit test to fix and conflicts to solve. Otherwise ready → to review
#3294 [Constraint.Lagrangian.Solver] Add GetConstraintForce component Support of multiple objects is validated. Force norm is validated. Unit test is required. → wip
#3271 [Topology] Improve TopologyHandler registration → ready
#3242 [Core] Make some functions non-virtual wait more PR related to unit testing to validate. One unit test fails → wip

PR merged within the week

12/10/2022

News

SOFA recruits, find out more about these opportunities
[SOFA Week 2022] More than 95 participants registered already, spread the word!
Test the Matrix branch : #2777 waiting your reviews!
Another SOFA Training session occurred on Monday!

Technical discussions

CI issues on MacOS, machines rebooted
Upcoming discussion about the progress of the Matrix project and objectives: naming, blocking points, specific cases
STC #14: add the topics you would like to address in discussions
#3299 [all] Replace all Vector2, Vector3, Vector4 by their short name alias Vec2, Vec3 This change should not have a strong impact on regression. Only issues should come when compiling in float. This raises a question: do we really want to support float (required for several API, CUDA, OpenGL) and how to keep the simplest and most readable code. In many codes, the member types are generic while in fact the implementation only works for a specific template (eg. Vec3). Now: check compilation and regression. Then ready!
Good first issues are available, give it a try!

SOFA PR review

#3365 [CImgPlugin] Replace new keyword with creating unique pointers to properly clean up allocated memory. → ready
#3353 [sceneutility] Deprecate MakeAlias and MakeDataAlias → closed
#3351 [examples] Another pass of plugin finder One crash on scene test (error 139). Name of some classes are really not good : see issue #3320 https://github.com/sofa-framework/sofa/issues/3320 → back to wip
#3345 [Config] Option to enable interprocedural optimization New test to be conducted to check whether it activates properly the interprocedural optimization on Windows → back to wip
#3344 [git] Add various temporary files to .gitignore Other folder should be also ignored (extlibs, license, include) → ready
#3329 [Constraint.Lagrangian] Update BilateralInteractionConstraint to support topological changes Test failing and review comments to take into account → back to wip
#3328 [Constraint.Lagrangian] Remove merge option from BilateralInteractionConstraint → ready
#3327 [Constraint.lagrangian] Fix BilateralInteractionConstraint double init and clean some Data Activating constraint at a specific time, should now be done through a script or a controller → ready
#3315 [S.C.MechanicalLoad] PlaneForcefield: Fix "potential divide by zero" warnings in msvc → ready
#3278 [Sofa.Core] minor refactoring for Data::read() to move into BaseData the reading code Tests are failing → back to wip
#3271 [Topology] Improve TopologyHandler registration One test added in the PR is failing → back to wip
#3242 [Core] Make some functions non-virtual Add comment in the code referring to the PR → to review, then ready
#2777 [LinearSystem] Refactor matrix assembly Unit tests added! To be reviewed @all. Performances using the benchmark scenes seem similar to the current ones. → keep to review and meeting upcoming

PR merged within the week

06/10/2022

News

SOFA recruits, find out more about these opportunities
SOFA Week 2022: First participants arelisted here

Technical discussions

Program STC #14 for days 2 & 3 (November 17-18th): feel free to add any topic to discuss

SOFA PR review

#3237: ready. Needed to be rebased due to conflicts.
#3242: Add comments with link to the PR with details. After that => Ready
#3245: Ready
#3269: Changes requested
#3278: Failing unit tests. A description is requested.
#3287: Change requested, otherwise ready.
#3288: FAiling tests on Windows. This PR will be discussed next week.
#3289: Compilation failing
#3290: postponed. The need to repeat using Inherit1::initData is not understood
#3294: WIP
#3299: Compilation failing => WIP
#3301: Failing scenes => WIP. Wait for https://github.com/sofa-framework/sofa/pull/3351
#3304: Ready
#3305: Ready. To present next dev meeting so everyone is aware of this PR
#3314: Ready. To present next dev meeting so everyone is aware of this PR
#3315: Ready. But an issue has been written.
#3327: Deprecation requested. Await answer from M. Talbot.
#3331: Ready
#3332: Ready
#3334: Keep to review. Need more feedback. Deprecation requested.
#3338: Ready
#3339: Answer requested. Need more investigation => WIP
#3344: Keep to review
#3345: Need more tests

BeamAdapter PR review

#50: wait to review https://github.com/sofa-framework/sofa/pull/3358. An alternative is to support only compilers with parallel algorithms support.
#57: Ready. Vector of gravity vectors has been replaced by a single gravity vector from the current Node
#59: Ready
#62: Keep to review
#64: Need regression tests. Keep to review

PR merged within the week

28/09/2022

News

SOFA recruits, find out more about these opportunities
Servers back online, take the opportunity to register for the SOFA Week 2022
First participants are listed here

Technical discussions

New gravity API proposed in #2988 Presentation done, but to be further discussed with other physics developers. Main changes are for users, therefore scene description must be clearly explained to users. → to review
Performance issue coming from #3280 VisualStudio seems to struggle with the inlining, RealeaseWithDebugInfo should be slower (which is the case on the CI). Inlining could be forced but this is not the good way. A deeper investigation is needed but Alex has no time for now. Any help welcome! Reported in #3343 https://github.com/sofa-framework/sofa/issues/3343 → to review
Memory leak fixed in SOFA in #3337 Nice PR fixing the leak while unloading SOFA. Few questions posted and now waiting the 7 days of review, then should be ready → keep to review
Program STC #14 for days 2 & 3 (November 17-18th): feel free to add any topic to discuss
Issue of css on the online documentation

SOFA PR review

#3344 [git] Add various temporary files to .gitignore → ready
#3339 [Mapping] Add checks at init in TopologicalMapping Reviews added, improve message for user. → back to wip
#3335 [LinearAlgebra] Remove unused operations on BaseMatrix Request again review awaiting → keep to review
#3294 [Constraint.Lagrangian.Solver] Add GetConstraintForce component Test to be conducted to validate the value returned. Also should make sure that indices are well managed when several objects are in the scene. → keep to review
#3290 [All] Compilation with "/fpermissive-" (MSVC) Need to be discussed, investigated by more → keep to review
#3287 [Collision] Cleaning pass on types and remove unused code Extract the changes on MeshDiscreteIntersection in another PR, else ready. → keep to review, then ready
#3282 [Sofa.Defaulttype] Move Rigid{Coord, Deriv, Mass} from RigidTypes into their own headers → ready
#3279 [Sofa.Core] Finally disable deprecated code in BaseData and ExectParam's Aspects. → ready
#3271 [Topology] Improve TopologyHandler registration Few questions and typos to fix. → wip
#3270 [Sofa.Core] Add some const qualifier to collision methods & use SReal & nodiscard. → ready
#3268 [SolidMechanics] Fix updating the internal spring indices of SpringForceField Need review of @epernod → keep to review
#3245 [Topology_test] Add tests in EdgeSetTopology_test to check topological changes Need review of @hugtalbot → keep to review
#3237 [Sofa.DefaultType] Constexpr VecTypes and RigidTypes These classes were fully inline. Need a rebase. Need to test whether it can really be constexpr-ed! → keep to review, after CI ready !
#2777 [LinearSystem] Refactor matrix assembly Boilerplate code added to get the compatibility layer if the new API is not implemented. Tests remain to be added, the work will then be widely presented → keep to review

PR merged within the week

14/09/2022

News

Due to new malicious act on Inria Lille infrastructure, our website http://sofa-framework.org is down for now. We'll keep you posted when to register again for the #SOFAWeek2022
The CI is down, investigation shows this is related to a problem in the Inria infrastructure a ticket was open
Presentation of the work to be done by Leo Hunout
Work on parallel linear solver performed by Stephane & Alex is now public: https://github.com/SofaDefrost/SofaCUDALinearSolver
SOFA recruits, find out more about these opportunities
Guillaume Paran as guest star in the SOFA dev meeting!

SOFA PR review

#3216 [Topology] Fix initTopology call chains for mesh without topology (ready, postpone... )
#3221 [Type] Constexpr Quaternion (ready, a future PR will come to implement constexpr validation in unittest)
#3231 [Constraint.Lagrangian.Correction] LinearSolverCC: use FullVector API if detected (ready, future discussion planned on more general refactoring to have dynamic_cast less architecture if possible)
#3239 [GUI.performer] Add remove elements function for LineCollisionModel (ready, wait the CI is back)
#3249 [SolidMechanics.Spring] RestShapeSpringForceField: Fix addKToMatrix (ready, opened a discussion about how we should handle the "conditionale" sizing of the array)
#3283 [Core][Type] Minor warning fixes (ready)
#3284 [StateContainer] Optimize vector operations (ready)
#3265 [Config] Remove deprecated macros (back to wip to only handle the case with Quat, BaseData will be in #3279)

SofaPython3 PR review

#302 [bindings.SofaTypes] Follow changes in Mat (ready, wait the CI)
#301 [all] Fix memory leak (validated by Paul, ready wait the CI)
#300 [examples] Update all plugins and remove DefaultVisualManagerLoop (back to wip)
#298 [Core] Improve some tests related to the binding of getClassName() (ready, wait the CI)
#293 Fixed Memory Leak in DataContainer.array() and DataContainer.writeable() (closed integrated in #301)

PR merged within the week

07/09/2022

News

SOFA recruits, find out more about these job opportunities
Do not miss the annual conference for SOFA: Symposium day on 15th November
SOFA v22.06 is out, get it here: https://www.sofa-framework.org/download/

Technical discussions

SofaCUDALinearSolver : GPU-based direct linear solver: further to Stephane’s work, a direct GPU linear solver based on cusolver library (available in CUDA toolkit). However, inveistation and limitations remain :
- the library is opaque (API does not provide access to factors/submatrices, and therefore it does not allow a CPU-GPU hybrid factorization-resolution)
- a limitation is that it cannot take advantage of the constant pattern of the system matrix: another matrix is available for this.cusolver_rf (only a LU factorization) → an investigation to do
[Type] Constexpr Quaternion #3221
- Constexpr requires to define all in the header file (making compilation time higher)
- Let's test to define it constexpr while defining it in the inl file (including it in the header) and see if it works as constexpr

SOFA PR review

#3239 [GUI.performer] Add remove elements function for LineCollisionModel A comment to be added. Missing a check on the found topology. → wip
#3237 [Sofa.DefaultType] Constexpr VecTypes and RigidTypes Wait for #3221 → keep to review
#3231 [Constraint.Lagrangian.Correction] LinearSolverCC: use FullVector API if detected Loss of genericity and complexity with the lambda function. Todo: make the lambda include the two for loops. → wip
#3221 [Type] Constexpr Quaternion Let's test to define it constexpr while defining it in the inl file (including it in the header) and see if it works as constexpr → keep to review
#3216 [Topology] Fix initTopology call chains for mesh without topology Rebuild taking into account regression PR and then ready if CI is ok → keep to review
#3126 [Lagrangian.Model] Remove use of LateSpecialization pattern Try to find a design pattern to properly treat the specialization cases in SOFA. Vec3Type and Rigid3Type are working so far (but not taking CudaType). Check if the proposed pattern does suit a sfinae design. → keep to review

SofaPython3 PR review

#301 [all] Fix memory leak More see #293 → will be closed after investigation
#293 Fixed Memory Leak in DataContainer.array() and DataContainer.writeable() The PR #301 opened suggests a new solution. Should be merged into #293. Remain todo: solve the new case (solved by the std::make_unique) to have something generic whatever the version of pybind. Damien will have a look at it → keep to review

PR merged within the week

31/08/2022

News

Save your seat for the 14-18th November: SOFA Week 2022
SOFA v22.06 is out!
- Discover all features online
- Give us feedback and share your enthusiasm
End of Stephane’s internship :
- CUDA code incoming in a dedicated plugin
- Benchmarking code remains to do on several PR

Technical discussions

Update about the SofaMatrix project
- Refactoring is over
- 10% last percent (which are taking 90% of the time)
- A doc has been written
- New feature: able to check column and row value given when filling the matrix (data in the matrix assembler): no check, check system size, check submatrix, topology-aware check
- Maybe looking at a compatibility layer
- Later (after merge in master)
  - Modify all components with the new API (ongoing) Geometric stiffness : non-linear mapping which is itself non-mapped → need to differentiate linear and nonlinear mappings
  - Speed up of matrix mapping
  - Python bindings
  - Multithreading
  - CUDA compat
  - Test
PRs to be backported in v22.06 have been sorted, ready for backport v22.06.01

SOFA PR review

#3216 [Topology] Fix initTopology call chains for mesh without topology Test to fix → wip
#3176 [Core] Minor cleaning → ready
#3151 [Core] Make src an explicit link and support late update Still tests failing → wip
#3126 [Lagrangian.Model] Remove use of LateSpecialization pattern Try to find a design pattern to treat properly the specialization cases in SOFA. Vec3Type and Rigid3Type are working so far (but not taking CudaType). → keep to review
#3059 [Sofa.Core] Linear time getRoot() method in BaseNode and Node Test with a SPtr but not convincing and no way to guarantee the fact that there is no circular dependency → ready

SofaPython3 PR review

#293 Fixed Memory Leak in DataContainer.array() and DataContainer.writeable() Not sure about the fix, we may need to find another design avoid the new, discussion ongoing → keep to review

PR merged within the week

24/08/2022

News

SOFA Week is coming: request a place on stage and present your work
SOFA v22.06 is out!
- Download it here: https://www.sofa-framework.org/download/
- Discover all features online: https://www.sofa-framework.org/about/sofa-v22-06/
- Give us feedback and share your enthusiasm: https://github.com/sofa-framework/sofa/discussions/3215

SOFA PR review

#3230 [SolidMechanics] Remove useless data indice attribute in SpringFF Code removed is actually used → closed
#3227 [all] Set of warning fixes → ready
#3226 [LinearSolver.Direct] BTDLinearSolver: Clean debug informations and rename data Additional refactoring of message should be done later → ready
#3225 [CMake] FIX parent modules library consistency → ready
#3224 [core] remove shadow variables Ok to keep it as is, but naming should be improved and the for loop should be modernized. To be done in a following PR. → keep to review until next PR
#3221 [Sofa.Type] Constexpr Quaternion Feedback expected from @damienmarchal else ready. Move Quat::writeOpenGlMatrix in another PR. → keep to review
#3216 [Topology.c.dynamic] Fix initTopology call chains for mesh without topology CI says no, fix tests → wip
#3188 [objectmodel] Avoid extra copy in DataFileNameVector → ready
#3183 [objectmodel] Remove memory leaks → ready
#3151 [Core] Make src an explicit link and support late update Warnings and test failure to investigate. PR will be separated in two, keep only the src as a data → wip
#3063 [metis] Upgrade metis and GKlib PR done to check a metis-related issue. Potential source of error, mark it as postponed if needed later → closed

SofaPython3 PR review

#297 Fix warnings Review merged. Wait for CI then merged → ready
#294 Get info to try to fix the failing test Function "PythonFactory::toPython" finding the downcast where an error must occur. To be investigated → wip

BeamAdapter PR review

#50 [Mapping] Clean and optimize AdaptiveBeamMapping Configuration code could be set in SOFA, but we should agree on the way to use multithreading. → ready

PR merged within the week

17/08/2022

News

SOFA v22.06 is out!
- Download it here
- Discover all features online
- Give us feedback and share your enthusiasm

Technical discussions

Opening codes foster the robustness of these! Never hesitate to share your contributions to benefit from our dev engineering community!

SOFA PR review

#3224 [core] remove shadow variables Ask for more modern C++ changes → wip
#3223 [SofaImplicitField] Fix CMake for new NG architecture → ready
#3221 [Sofa.Type] Constexpr Quaternion → ready (wait for the 7 days)
#3217 [Type] Add NoInit constructor for Quat class → ready (wait for the 7 days)
#3216 [Topology.c.dynamic] Fix initTopology call chains for mesh without topology → ready
#3183 [objectmodel] Remove memory leaks PR looks really nice, wait for devs to take a look → keep to review (to be merged next week)
#3175 [Spring] RestSpringsForceField: Unify Vec/Rigid implementation Code for Rigid was in cpp, therefore when instantiating in CUDA you need to include the cpp. Factorization was needed. It would also ensure a better coherency of the code. The check for the DataType isRigid could be moved in sofa::defaulttype (in another PR) → ready
#3164 [SofaCUDA] Make CudaConstantForceField compatible with CudaRigid types → ready
#3155 [linearsolver] Create data links for preconditioners and ShewchukPCGLinearSolver → ready
#3152 [constraint.lagrangian] Create data links in ConstraintCorrection for linear solver → ready

SofaPython3 PR review

#296 [Plugin][CMake] Explicit RELOCATABLE parameter → ready and merged
#294 Get info to try to fix the failing test It is a PR for debug → wip
#293 Fixed Memory Leak in DataContainer.array() and DataContainer.writeable() Need review of @damienmarchal → keep to review

PR merged within the week

10/08/2022

News

SOFA Week 2022: preparation started and registration is open!
Release will be out by Friday, stay tuned!

Technical discussions

Check dashboard: strange macOS problem with access to matrices with SofaPython3. Apparently a binding to LCPConstraintSolver is needed while the binding to ConstraintSolverImpl does not suffice. To be further investigated
#3203 Topology changes for SphereCollisionModel on EdgeSetTopologyContainer The SphereCollisionModel works historically without a topology (relying on the mstate). Tests are failing due to the absence of a PointSetTopology, an alternative could be to change the warning into an info message that without a topology, no topological change will be supported. Another change in order to make the component topologically robust would be to make the data radius as a PointData

SOFA PR review

#3190 [objectmodel] Remove redefinition of initData → ready
#3188 [objectmodel] Avoid extra copy in DataFileNameVector Conflict on PR, when fixed PR is ready → keep to review
#3183 [objectmodel] Remove memory leaks PR looks really nice, wait for devs to take a look → keep to review
#3176 [objectmodel] Minor cleaning Test failing → wip
#3173 [MappedMatrix] MechanicalMatrixMapper: adds option → ready
#3164 [SofaCUDA] Make CudaConstantForceField compatible with CudaRigid types Restart CI #3163 [all] Remove code disabled in v21.06 → ready
#3162 [Component.Setting] Introduce PrintLog component to set printLog to all the graph components Agreed for a Node based behavior even if this would mean to pollute Node.h → suggestion to close
#3155 [linearsolver] Create data links for preconditioners and ShewchukPCGLinearSolver Use links directly instead of internal point variable → wip
#3152 [constraint.lagrangian] Create data links in ConstraintCorrection for linear solver Use links directly instead of internal point variable → wip
#3124 [Sofa.Type] Deprecate unsafe Vec constructor from pointer Crash on Image::getCorners. Check if related to the PR → wip
#3053 [Constraint.Lagrangian] Add the NNCG as NLCP solver in GenericCS Wait for CI to compile and then merge → keep to review
#3004 [SofaCUDA] Add ConstraintCorrection instantiation in CudaVec3f/CudaVec3f1 → ready

SofaPython3 PR review

#293 Fixed Memory Leak in DataContainer.array() and DataContainer.writeable() Need review of @damienmarchal → stay to review
#291 Fix minor warning → ready

PR merged within the week

27/07/2022

News

SOFA Week 2022: preparation started and registration is open!

SOFA PR review

#3167 [all] Remove pointer to itself in initData Poke @damienmarchal @JeremieA → wip
#3154 [SofaSparseSolver] Parallelize the assembly of the compliance matrix for the LDL solver Choice should be offered to the user to use a multithreaded approach, through a data e.g. Evaluate the overhead due to use of Task with only 1 thread. Same for #3093 → wip
#3151 [Core] Make src an explicit link and support late update Warnings and test failure to investigate → wip
#3142 [Core.Topology] Fix info message when Topology given to topologyHandler is not dynamic → ready
#3141 [SolidMechanics.FEM.HyperElastic] Reformat and clean TetrahedronHyperelasticityFEMForceField → ready
#3138 [Sofa.Type] Quat: Optimize rotate() (and inverseRotate()) → ready
#3124 [Sofa.Type] Deprecate unsafe Vec constructor from pointer Strange scene crash on Windows (image plugin), rebuild and see → keep to review and then merge (CI)
#3120 [CMake] Use standard macros + fix out-of-tree builds Reply needed on : #3120 (review) → keep to review
#3053 [Constraint.Lagrangian] Add the NNCG as NLCP solver in GenericCS Create separate functions in buildSystem. Avoid using else function with the d_resolutionMethod. Add a regression scene with unbuilt. → wip

SofaPython3 PR review

#289 Binding to access to the compliance matrix in constraint space W compliance matrix can be accessed, only MacOS tests are strangely failing. → ready (and investigate compilation on MacOS on dashboard)

PR merged within the week

20/07/2022

News

Twinical startup project got the 1st Prize of the ILab challenge
SOFA v22.06 release: postponed to August when Guillaume comes back. TODO before:
- Merge all v22.06-tagged PR
- Test a full build (custom job on CI) as for the Summer School
Open-source is a philosophy, get involved in your own way!

SOFA PR review

#3123 [GUI] Remove the reset button, replaced by reload scene Only the button reset is removed, used by no one. For the future, the work on improving the SOFA API has to be done to ensure a good initialization / update of components. A good test would be to run sequentially: storeResetState() and reset() → ready
#3120 [CMake] Use standard macros + fix out-of-tree builds This PR might be breaking for plugin compilation (including move of files), this PR changes the way we organize / name the code (which is good!). It would be therefore nice to rediscuss it with @guparan and @fredroy to all agree on the organization and merge it, but a question comes: should the PR be integrated in the release. → keep to review
#3115 [GL.Rendering3D] Clean up GL components → ready
#3109 [Helper] Make clearer from where plugins are loaded UX is not perfect : some plugins loaded are in blue in the GUI (the one loaded by the GUI itself). Even with a tooltip, the user can be a bit confused but this is a dev feature. An issue was created on the double mechanism of plugin loading #3147 → ready
#3105 [GUI.Qt] Move default format setup before application creation → ready
#3090 [All] Lifecycle update before v22.06 → ready and we will wait before backporting it
#3077 [SofaCUDA] Fix CMake to compile plugin without legacy headers option Remove BoxStiffSpringForceField (unavailable since not anymore in the compiled packages) → wip
#3059 [Sofa.Core] Linear time getRoot() method in BaseNode and Node Test using a smart pointer will be done and tested on the CI → wip
#3053 [Constraint.Lagrangian] Add the NNCG as NLCP solver in GenericCS Rename data as solverMethod Issue suggesting the factorization of ConstraintSolvers was created in #3148 → wip
#2988 [All] Propose a new gravity API Propose this new mechanism in a new issue to be discussed with all users / devs, see #3149 → back to wip

SofaPython3 PR review

#265 [SofaPython3] Add a LinkPath object in both the binding and plugin. Interesting proposal to have an object LinkPath for the path in the graph of objects and associated binding in SofaPython3. Unify the different ways to access this path. Simply the scene writing. → ready

PR merged within the week

13/07/2022

News

SOFA Website is down since Sunday due to an act of vandalism where our servers are located, see question posted on GitHub Discussions #3127
SOFA v22.06 release: due to the above point, the release process is delayed because of unavailability of CI infrastructure
Summer school "Deformation in robotics" was a success with more than 40 participants presenting their work in soft-robotics! Feedback very positive!
This Monday tool place the SOFA workshop at EMBC 2022 in Glasgow. Attendees were motivated, interested and many questions came up!

Technical discussions

LICENSE at SOFA root: we should find a way to display it without changing the file
Several PR were to be discussed before v22.06

SOFA PR review

#3119 [GUI.Qt] Save scene graph lock state persistently Save the state of the graph lock and remember it → ready
#3116 [Mass] Make warnings become info_msg in masses Make msg homogeneous with other l_topology, for now we accept the search in the graph and it removes the warnings in all scenes. For later, a SceneChecker for explicit link could be created instead of checking this component per component → ready
#3120 [CMake] Use standard macros + fix out-of-tree builds Init in Sofa.GUI is fine but else it should not be a plugin. Add a new macro sofa_add_library when it is a library not containing components (not loadable as RequiredPlugin) → wip
#3090 [All] Lifecycle update before v22.06 Change CMake to move GLOBAL loc → wip

SofaPython3 PR review

#284 [SofaPython3] Separates the pre-loaded python modules out of the python (Fix issue #283) → ready and issue created to add GHA test for SOFA use in a python interpreter #287

PR merged within the week

06/07/2022

News

Summer school "Deformation in robotics" was a success with more than 40 participants presenting their work in soft-robotics!
Next week
- SOFA at EMBC 2022 in Glasgow July 11th
- SOFA v22.06 should be released

Technical discussions

Issue of rendering in QtViewer brought on GitHub discussions #3100, branch being tested and seems to work

SOFA PR review

#3101 [GUI.Qt] Redirect Qt messages to the SOFA output stream Ready but not 7 day old → keep to review -#3093 [SofaLinearSolver] Parallelize the assembly of compliance matrix Cleaning of the code, solve the threadsafetyness of getValue() and work on SparseLDLSolver. Temporary vector used in a loop also not threadsafe. → wip
#3090 [All] Lifecycle update before v22.06 66 regressions failing on Ubuntu, rebuild ongoing → keep to review
#3084 [IO.Mesh] Fix binary loading in case of degenerated triangles Ready but on last change needed on #2999 → ready
#3080 [Core] Dynamic control of the computation of the bounding box Doc must be updated → ready
#3077 [SofaCUDA] Fix CMake to compile plugin without legacy headers option The CUDA version of BoxStiffSpringForceField will be removed and add warning when trying to instantiate removed component → wip
#3063 [metis] Upgrade metis and GKlib Ready but we keep it to review on purpose to postpone its merge after stable release v22.06 → keep to review
#3059 [Sofa.Core] Linear time getRoot() method in BaseNode and Node Ready only one pointer could be set as unique instead → keep temporarily to review
#3055 [Constraint.Lagrangian.Correction] Searching for Direct Linear Solver → keep to review
#3026 [runSofa] Add a button and a mechanism to activate the scenegraph updates → ready

SofaPython3 PR review

#268 Compilation without Compatibility Layer from SOFA Seems perfect! (poked guparan) → ready
#265 [SofaPython3] Add a LinkPath object in both the binding and plugin PR has some conflicts, issue created #282 → back to wip

BeamAdapter PR

Issue of rendering in QtViewer brought on GitHub discussions #3100, branch being tested and seems to work

PR merged within the week

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