sofa-framework · epernod · Dec 17, 2020 · Dec 8, 2020 · Dec 8, 2020 · Dec 8, 2020
diff --git a/SofaKernel/SofaBase/src/SofaBase/initSofaBase.cpp b/SofaKernel/SofaBase/src/SofaBase/initSofaBase.cpp
@@ -22,7 +22,7 @@
 #include <SofaBase/initSofaBase.h>
 #include <SofaBaseTopology/initBaseTopology.h>
 #include <SofaBaseMechanics/initBaseMechanics.h>
-#include <SofaBaseCollision/initBaseCollision.h>
+#include <SofaBaseCollision/initSofaBaseCollision.h>
 #include <SofaBaseLinearSolver/initBaseLinearSolver.h>
 #include <SofaBaseVisual/initBaseVisual.h>
 #include <SofaBaseUtils/initSofaBaseUtils.h>
@@ -42,7 +42,7 @@ void initSofaBase()
     {
         initBaseTopology();
         initBaseMechanics();
-        initBaseCollision();
+        initSofaBaseCollision();
         initBaseLinearSolver();
         initBaseVisual();
         initSofaBaseUtils();

diff --git a/SofaKernel/modules/SofaBaseCollision/CMakeLists.txt b/SofaKernel/modules/SofaBaseCollision/CMakeLists.txt
@@ -1,77 +1,92 @@
 cmake_minimum_required(VERSION 3.12)
-project(SofaBaseCollision)
+project(SofaBaseCollision LANGUAGES CXX)
+
+set(SOFABASECOLLISION_SRC "src/${PROJECT_NAME}")
 
 set(HEADER_FILES
-    BaseContactMapper.h
-    BaseIntTool.h
-    BaseProximityIntersection.h
-    BruteForceDetection.h
-    CapsuleIntTool.h
-    CapsuleIntTool.inl
-    CapsuleModel.h
-    CapsuleModel.inl
-    ContactListener.h
-    Cube.h
-    CubeModel.h
-    CylinderModel.h
-    CylinderModel.inl
-    DefaultContactManager.h
-    DefaultPipeline.h
-    DiscreteIntersection.h
-    Intersector.h
-    IntrCapsuleOBB.h
-    IntrCapsuleOBB.inl
-    IntrOBBOBB.h
-    IntrOBBOBB.inl
-    IntrSphereOBB.h
-    IntrSphereOBB.inl
-    IntrUtility3.h
-    IntrUtility3.inl
-    MinProximityIntersection.h
-    NewProximityIntersection.h
-    NewProximityIntersection.inl
-    OBBIntTool.h
-    OBBModel.h
-    OBBModel.inl
-    RigidCapsuleModel.h
-    RigidCapsuleModel.inl
-    Sphere.h
-    SphereModel.h
-    SphereModel.inl
-    config.h
-    initBaseCollision.h
+    ${SOFABASECOLLISION_SRC}/config.h.in
+    ${SOFABASECOLLISION_SRC}/initSofaBaseCollision.h
+    ${SOFABASECOLLISION_SRC}/BaseContactMapper.h
+    ${SOFABASECOLLISION_SRC}/BaseIntTool.h
+    ${SOFABASECOLLISION_SRC}/BaseProximityIntersection.h
+    ${SOFABASECOLLISION_SRC}/BruteForceDetection.h
+    ${SOFABASECOLLISION_SRC}/CapsuleIntTool.h
+    ${SOFABASECOLLISION_SRC}/CapsuleIntTool.inl
+    ${SOFABASECOLLISION_SRC}/CapsuleModel.h
+    ${SOFABASECOLLISION_SRC}/CapsuleModel.inl
+    ${SOFABASECOLLISION_SRC}/ContactListener.h
+    ${SOFABASECOLLISION_SRC}/Cube.h
+    ${SOFABASECOLLISION_SRC}/CubeModel.h
+    ${SOFABASECOLLISION_SRC}/CylinderModel.h
+    ${SOFABASECOLLISION_SRC}/CylinderModel.inl
+    ${SOFABASECOLLISION_SRC}/DefaultContactManager.h
+    ${SOFABASECOLLISION_SRC}/DefaultPipeline.h
+    ${SOFABASECOLLISION_SRC}/DiscreteIntersection.h
+    ${SOFABASECOLLISION_SRC}/Intersector.h
+    ${SOFABASECOLLISION_SRC}/IntrCapsuleOBB.h
+    ${SOFABASECOLLISION_SRC}/IntrCapsuleOBB.inl
+    ${SOFABASECOLLISION_SRC}/IntrOBBOBB.h
+    ${SOFABASECOLLISION_SRC}/IntrOBBOBB.inl
+    ${SOFABASECOLLISION_SRC}/IntrSphereOBB.h
+    ${SOFABASECOLLISION_SRC}/IntrSphereOBB.inl
+    ${SOFABASECOLLISION_SRC}/IntrUtility3.h
+    ${SOFABASECOLLISION_SRC}/IntrUtility3.inl
+    ${SOFABASECOLLISION_SRC}/MinProximityIntersection.h
+    ${SOFABASECOLLISION_SRC}/NewProximityIntersection.h
+    ${SOFABASECOLLISION_SRC}/NewProximityIntersection.inl
+    ${SOFABASECOLLISION_SRC}/OBBIntTool.h
+    ${SOFABASECOLLISION_SRC}/OBBModel.h
+    ${SOFABASECOLLISION_SRC}/OBBModel.inl
+    ${SOFABASECOLLISION_SRC}/RigidCapsuleModel.h
+    ${SOFABASECOLLISION_SRC}/RigidCapsuleModel.inl
+    ${SOFABASECOLLISION_SRC}/Sphere.h
+    ${SOFABASECOLLISION_SRC}/SphereModel.h
+    ${SOFABASECOLLISION_SRC}/SphereModel.inl
 )
 
 set(SOURCE_FILES
-    BaseContactMapper.cpp
-    BaseIntTool.cpp
-    BaseProximityIntersection.cpp
-    BruteForceDetection.cpp
-    CapsuleIntTool.cpp
-    CapsuleModel.cpp
-    ContactListener.cpp
-    CubeModel.cpp
-    CylinderModel.cpp
-    DefaultContactManager.cpp
-    DefaultPipeline.cpp
-    DiscreteIntersection.cpp
-    IntrCapsuleOBB.cpp
-    IntrOBBOBB.cpp
-    IntrSphereOBB.cpp
-    IntrUtility3.cpp
-    MinProximityIntersection.cpp
-    NewProximityIntersection.cpp
-    OBBIntTool.cpp
-    OBBModel.cpp
-    RigidCapsuleModel.cpp
-    SphereModel.cpp
-    initBaseCollision.cpp
+    ${SOFABASECOLLISION_SRC}/initSofaBaseCollision.cpp
+    ${SOFABASECOLLISION_SRC}/BaseContactMapper.cpp
+    ${SOFABASECOLLISION_SRC}/BaseIntTool.cpp
+    ${SOFABASECOLLISION_SRC}/BaseProximityIntersection.cpp
+    ${SOFABASECOLLISION_SRC}/BruteForceDetection.cpp
+    ${SOFABASECOLLISION_SRC}/CapsuleIntTool.cpp
+    ${SOFABASECOLLISION_SRC}/CapsuleModel.cpp
+    ${SOFABASECOLLISION_SRC}/ContactListener.cpp
+    ${SOFABASECOLLISION_SRC}/CubeModel.cpp
+    ${SOFABASECOLLISION_SRC}/CylinderModel.cpp
+    ${SOFABASECOLLISION_SRC}/DefaultContactManager.cpp
+    ${SOFABASECOLLISION_SRC}/DefaultPipeline.cpp
+    ${SOFABASECOLLISION_SRC}/DiscreteIntersection.cpp
+    ${SOFABASECOLLISION_SRC}/IntrCapsuleOBB.cpp
+    ${SOFABASECOLLISION_SRC}/IntrOBBOBB.cpp
+    ${SOFABASECOLLISION_SRC}/IntrSphereOBB.cpp
+    ${SOFABASECOLLISION_SRC}/IntrUtility3.cpp
+    ${SOFABASECOLLISION_SRC}/MinProximityIntersection.cpp
+    ${SOFABASECOLLISION_SRC}/NewProximityIntersection.cpp
+    ${SOFABASECOLLISION_SRC}/OBBIntTool.cpp
+    ${SOFABASECOLLISION_SRC}/OBBModel.cpp
+    ${SOFABASECOLLISION_SRC}/RigidCapsuleModel.cpp
+    ${SOFABASECOLLISION_SRC}/SphereModel.cpp
 )
 
+find_package(SofaFramework REQUIRED)
+
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME} PUBLIC SofaCore SofaSimulationCommon)
 
-sofa_add_targets_to_package(
-    PACKAGE_NAME SofaBase
+sofa_create_package_with_targets(
+    PACKAGE_NAME ${PROJECT_NAME}
+    PACKAGE_VERSION ${Sofa_VERSION}
     TARGETS ${PROJECT_NAME} AUTO_SET_TARGET_PROPERTIES
-    )
+    INCLUDE_SOURCE_DIR "src"
+    INCLUDE_INSTALL_DIR "${PROJECT_NAME}"
+)
+
+# Tests
+# If SOFA_BUILD_TESTS exists and is OFF, then these tests will be auto-disabled
+cmake_dependent_option(SOFABASECOLLISION_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF)
+if(SOFABASECOLLISION_BUILD_TESTS)
+    enable_testing()
+    add_subdirectory(SofaBaseCollision_test)
+endif()
diff --git a/SofaKernel/modules/SofaBaseCollision/README.md b/SofaKernel/modules/SofaBaseCollision/README.md
@@ -0,0 +1 @@
+# SofaBaseCollision
diff --git a/SofaKernel/modules/SofaBaseCollision/SofaBaseCollisionConfig.cmake.in b/SofaKernel/modules/SofaBaseCollision/SofaBaseCollisionConfig.cmake.in
@@ -0,0 +1,12 @@
+# CMake package configuration file for the @PROJECT_NAME@ module
+
+@PACKAGE_GUARD@
+@PACKAGE_INIT@
+
+find_package(SofaFramework QUIET REQUIRED)
+
+if(NOT TARGET @PROJECT_NAME@)
+    include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
+endif()
+
+check_required_components(@PROJECT_NAME@)
diff --git a/...s/SofaBaseCollision/BaseContactMapper.cpp → ...c/SofaBaseCollision/BaseContactMapper.cpp b/...s/SofaBaseCollision/BaseContactMapper.cpp → ...c/SofaBaseCollision/BaseContactMapper.cpp
@@ -27,13 +27,7 @@
 
 #include <sofa/defaulttype/VecTypes.h>
 
-namespace sofa
-{
-
-namespace component
-{
-
-namespace collision
+namespace sofa::component::collision
 {
 
 using namespace defaulttype;
@@ -49,20 +43,15 @@ std::string GenerateStringID::generate(){
 }
 
 
-//template class SOFA_BASE_COLLISION_API BaseContactMapper<defaulttype::Vec2Types>;
-template class SOFA_BASE_COLLISION_API BaseContactMapper<defaulttype::Vec3Types>;
-template class SOFA_BASE_COLLISION_API BaseContactMapper<defaulttype::Rigid3Types>;
-
+//template class SOFA_SOFABASECOLLISION_API BaseContactMapper<defaulttype::Vec2Types>;
+template class SOFA_SOFABASECOLLISION_API BaseContactMapper<defaulttype::Vec3Types>;
+template class SOFA_SOFABASECOLLISION_API BaseContactMapper<defaulttype::Rigid3Types>;
 
-} // namespace collision
 
-} // namespace component
+} // namespace sofa::component::collision
 
-namespace helper
+namespace sofa::helper
 {
-//template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec2Types>, core::CollisionModel* >;
-template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec3Types>, core::CollisionModel* >;
-template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Rigid3Types>, core::CollisionModel* >;
-} // namespace helper
-
-} // namespace sofa
+template class SOFA_SOFABASECOLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec3Types>, core::CollisionModel* >;
+template class SOFA_SOFABASECOLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Rigid3Types>, core::CollisionModel* >;
+} // namespace sofa::helper
diff --git a/...les/SofaBaseCollision/BaseContactMapper.h → ...src/SofaBaseCollision/BaseContactMapper.h b/...les/SofaBaseCollision/BaseContactMapper.h → ...src/SofaBaseCollision/BaseContactMapper.h
@@ -19,35 +19,19 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#ifndef SOFA_COMPONENT_COLLISION_BASECONTACTMAPPER_H
-#define SOFA_COMPONENT_COLLISION_BASECONTACTMAPPER_H
-#include "config.h"
+#pragma once
+#include <SofaBaseCollision/config.h>
 
 #include <sofa/helper/Factory.h>
 #include <sofa/core/CollisionModel.h>
 #include <sofa/defaulttype/RigidTypes.h>
 #include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/behavior/MechanicalState.h>
 
-namespace sofa
+namespace sofa::component::collision
 {
 
-namespace core
-{
-
-namespace behavior
-{
-template <class T> class MechanicalState;
-} // namespace behavior
-
-} // namespace core
-
-namespace component
-{
-
-namespace collision
-{
-
-class SOFA_BASE_COLLISION_API GenerateStringID
+class SOFA_SOFABASECOLLISION_API GenerateStringID
 {
 public :
     static const int length {15};
@@ -132,24 +116,19 @@ class ContactMapperCreator : public helper::Creator < typename Mapper::ContactMa
 };
 
 #if !defined(SOFA_COMPONENT_COLLISION_BASECONTACTMAPPER_CPP)
-extern template class SOFA_BASE_COLLISION_API BaseContactMapper<defaulttype::Vec3Types>;
-extern template class SOFA_BASE_COLLISION_API BaseContactMapper<defaulttype::Rigid3Types>;
+extern template class SOFA_SOFABASECOLLISION_API BaseContactMapper<defaulttype::Vec3Types>;
+extern template class SOFA_SOFABASECOLLISION_API BaseContactMapper<defaulttype::Rigid3Types>;
 
 #endif
 
-} // namespace collision
+} // namespace sofa::component::collision
 
-} // namespace component
 
 #if !defined(SOFA_COMPONENT_COLLISION_BASECONTACTMAPPER_CPP)
-namespace helper
+namespace sofa::helper
 {
-//extern template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec2Types>, core::CollisionModel* >;
-extern template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec3Types>, core::CollisionModel* >;
-extern template class SOFA_BASE_COLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Rigid3Types>, core::CollisionModel* >;
-} // namespace helper
-#endif
-
-} // namespace sofa
-
+//extern template class SOFA_SOFABASECOLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec2Types>, core::CollisionModel* >;
+extern template class SOFA_SOFABASECOLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Vec3Types>, core::CollisionModel* >;
+extern template class SOFA_SOFABASECOLLISION_API Factory< std::string, sofa::component::collision::BaseContactMapper<defaulttype::Rigid3Types>, core::CollisionModel* >;
+} // namespace sofa::helper
 #endif
diff --git a/...modules/SofaBaseCollision/BaseIntTool.cpp → ...ion/src/SofaBaseCollision/BaseIntTool.cpp b/...modules/SofaBaseCollision/BaseIntTool.cpp → ...ion/src/SofaBaseCollision/BaseIntTool.cpp
@@ -21,7 +21,8 @@
 ******************************************************************************/
 #include <SofaBaseCollision/BaseIntTool.h>
 
-namespace sofa{namespace component{namespace collision{
+namespace sofa::component::collision
+{
 
 //template<>
 bool BaseIntTool::testIntersection(Cube &cube1, Cube &cube2,SReal alarmDist)
@@ -48,6 +49,6 @@ bool BaseIntTool::testIntersection(Cube &cube1, Cube &cube2,SReal alarmDist)
     return true;
 }
 
-class SOFA_BASE_COLLISION_API BaseIntTool;
+class SOFA_SOFABASECOLLISION_API BaseIntTool;
 
-}}}
+} // namespace sofa::component::collision
diff --git a/...l/modules/SofaBaseCollision/BaseIntTool.h → ...ision/src/SofaBaseCollision/BaseIntTool.h b/...l/modules/SofaBaseCollision/BaseIntTool.h → ...ision/src/SofaBaseCollision/BaseIntTool.h
@@ -19,22 +19,18 @@
 *                                                                             *
 * Contact information: contact@sofa-framework.org                             *
 ******************************************************************************/
-#ifndef BASEINTTOOL_H
-#define BASEINTTOOL_H
-#include "config.h"
+#pragma once
+#include <SofaBaseCollision/config.h>
 
 #include <SofaBaseCollision/CubeModel.h>
 #include <SofaBaseCollision/CapsuleIntTool.h>
 #include <SofaBaseCollision/OBBIntTool.h>
 
-namespace sofa
-{
-namespace component
-{
-namespace collision
+namespace sofa::component::collision
 {
 
-class SOFA_BASE_COLLISION_API BaseIntTool : public CapsuleIntTool,public OBBIntTool{
+class SOFA_SOFABASECOLLISION_API BaseIntTool : public CapsuleIntTool,public OBBIntTool
+{
 public:
     typedef sofa::helper::vector<sofa::core::collision::DetectionOutput> OutputVector;
 
@@ -54,10 +50,6 @@ class SOFA_BASE_COLLISION_API BaseIntTool : public CapsuleIntTool,public OBBIntT
         return ( sph1.center() - sph2.center() ).norm2() <= r*r;
     }
 
-
-
-
-
     template <class DataTypes1,class DataTypes2>
     static int computeIntersection(TSphere<DataTypes1>& sph1, TSphere<DataTypes2>& sph2,SReal alarmDist,SReal contactDist,OutputVector* contacts)
     {
@@ -121,7 +113,4 @@ class SOFA_BASE_COLLISION_API BaseIntTool : public CapsuleIntTool,public OBBIntT
 
 
 
-}
-}
-}
-#endif // BASEINTTOOL_H
+} // namespace sofa::component::collision