From d5f426a404486f74a15877b33292c1267240b89b Mon Sep 17 00:00:00 2001
From: Paul Baksic <30337881+bakpaul@users.noreply.github.com>
Date: Fri, 13 Dec 2024 09:56:55 +0100
Subject: [PATCH] Apply suggestions from code review

Co-authored-by: Hugo <hugo.talbot@sofa-framework.org>
---
 .../collision/response/contact/AugmentedLagrangianResponse.h  | 4 ++--
 .../response/contact/AugmentedLagrangianResponse.inl          | 4 ++--
 .../component/collision/response/contact/FrictionContact.inl  | 2 +-
 .../lagrangian/model/AugmentedLagrangianConstraint.inl        | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h
index 052c4d1133f..b52276d55f0 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.h
@@ -49,8 +49,8 @@ class AugmentedLagrangianResponse : public BaseUnilateralContactResponse<TCollis
     typedef core::behavior::MechanicalState<DataTypes1> MechanicalState1;
     typedef core::behavior::MechanicalState<DataTypes2> MechanicalState2;
 
-    Data<double> d_mu; ///< friction parameter
-    Data<double> d_epsilon; ///< Penalty parameter
+    Data<SReal> d_mu; ///< friction parameter
+    Data<SReal> d_epsilon; ///< Penalty parameter
 
     AugmentedLagrangianResponse();
     AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod);
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl
index 131335e65c0..f49fedf5602 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/AugmentedLagrangianResponse.inl
@@ -42,8 +42,8 @@ AugmentedLagrangianResponse<TCollisionModel1,TCollisionModel2,ResponseDataTypes>
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes  >
 AugmentedLagrangianResponse<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::AugmentedLagrangianResponse(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
     : BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, constraint::lagrangian::model::AugmentedLagrangianContactParameters, ResponseDataTypes>(model1,model2,intersectionMethod)
-    , d_mu (initData(&d_mu, 0.0, "mu", "friction coefficient (0 for frictionless contacts)"))
-    , d_epsilon (initData(&d_epsilon, 0.0, "epsilon", "Penalty parameter. It can be think of as a proportional controller, the lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration."))
+    , d_mu (initData(&d_mu, 0.0, "mu", "Friction coefficient (0 for frictionless contacts)"))
+    , d_epsilon (initData(&d_epsilon, 0.0, "epsilon", "Penalty parameter. It can be think of as a proportional controller, the Lagrange multiplier is augmented by the violation multiplied by this factor at each solving iteration."))
 {
 
 }
diff --git a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl
index 6ee9fe777ed..0d2d1b43cb0 100644
--- a/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl
+++ b/Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/FrictionContact.inl
@@ -42,7 +42,7 @@ FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::FrictionCo
 template < class TCollisionModel1, class TCollisionModel2, class ResponseDataTypes  >
 FrictionContact<TCollisionModel1,TCollisionModel2,ResponseDataTypes>::FrictionContact(CollisionModel1* model1, CollisionModel2* model2, Intersection* intersectionMethod)
     : BaseUnilateralContactResponse<TCollisionModel1, TCollisionModel2, constraint::lagrangian::model::UnilateralLagrangianContactParameters, ResponseDataTypes>(model1,model2,intersectionMethod)
-      , d_mu (initData(&d_mu, 0.8, "mu", "friction coefficient (0 for frictionless contacts)"))
+      , d_mu (initData(&d_mu, 0.8, "mu", "Friction coefficient (0 for frictionless contacts)"))
 {
 
 }
diff --git a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl
index 77f5c19913a..914c64f6a3a 100644
--- a/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl
+++ b/Sofa/Component/Constraint/Lagrangian/Model/src/sofa/component/constraint/lagrangian/model/AugmentedLagrangianConstraint.inl
@@ -59,7 +59,7 @@ void AugmentedLagrangianConstraint<DataTypes>::getConstraintResolution(const cor
             ucrwf->setTolerance(this->customTolerance);
             resTab[offset] = ucrwf;
 
-            // TODO : cette méthode de stockage des forces peu mal fonctionner avec 2 threads quand on utilise l'haptique
+            // NOTE: this method of storing forces may not work well with 2 threads when using haptics
             offset += 3;
         }
         else