Follow SOFA Lifecycle v24.06 (SofaDefrost#265)

* Follow SOFA Lifecycle v24.06 * Apply suggestions from code review Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com> * Follow SOFA Lifecycle v24.06 * remove remaining Vector3 * unused var * remove unused result warning --------- Co-authored-by: Alex Bilger <alxbilger@users.noreply.github.com>
hugtalbot · Mar 14, 2024 · 5bb037b · 5bb037b
1 parent 6fd0ca7
commit 5bb037b
Show file tree

Hide file tree

Showing 4 changed files with 10 additions and 11 deletions.
diff --git a/src/SoftRobots/component/constraint/model/CableModel.cpp b/src/SoftRobots/component/constraint/model/CableModel.cpp
@@ -31,14 +31,12 @@
 
 namespace softrobots::constraint
 {
+    using sofa::defaulttype::Vec2Types;
+    using sofa::defaulttype::Vec3Types;
 
-using sofa::defaulttype::Vec2Types;
-using sofa::defaulttype::Vec3Types;
-using sofa::type::Vector2;
-
-using namespace sofa::defaulttype;
-template class SOFA_SOFTROBOTS_API CableModel<Vec3Types>;
-template class SOFA_SOFTROBOTS_API CableModel<Vec2Types>;
+    using namespace sofa::defaulttype;
+    template class SOFA_SOFTROBOTS_API CableModel<Vec3Types>;
+    template class SOFA_SOFTROBOTS_API CableModel<Vec2Types>;
 
 } // namespace
 
diff --git a/src/SoftRobots/component/constraint/model/CableModel.h b/src/SoftRobots/component/constraint/model/CableModel.h
@@ -45,11 +45,9 @@ using sofa::linearalgebra::BaseVector ;
 using sofa::core::ConstraintParams ;
 using sofa::helper::ReadAccessor ;
 using sofa::core::VecCoordId ;
-using sofa::type::Vector3;
-
+using sofa::type::Vec3;
 
 using sofa::core::topology::BaseMeshTopology;
-
 using sofa::linearalgebra::BaseVector;
 
 /**

diff --git a/src/SoftRobots/component/constraint/model/CableModel.inl b/src/SoftRobots/component/constraint/model/CableModel.inl
@@ -561,6 +561,7 @@ SReal CableModel<DataTypes>::getDistanceToTriangle(const Coord& position, const
     Vec3 projection { sofa::type::NOINIT };
     const bool r = sofa::geometry::proximity::computeClosestPointOnTriangleToPoint(Vec3(p0), Vec3(p1), Vec3(p2), Vec3(position), projection);
     assert(r);
+    SOFA_UNUSED(r);
     projectionOnTriangle = projection;
     const Real distanceToTriangle = (projectionOnTriangle - position).norm();
     return distanceToTriangle;

diff --git a/src/SoftRobots/component/forcefield/PREquivalentStiffnessForceField.inl b/src/SoftRobots/component/forcefield/PREquivalentStiffnessForceField.inl
@@ -116,7 +116,9 @@ void PREquivalentStiffnessForceField<DataTypes>::init()
 
             } else {
 
-                m_CInv[n].invert(m_complianceMat[n]);
+                bool invert = m_CInv[n].invert(m_complianceMat[n]);
+                if(!invert)
+                    msg_error() << "Unable to invert compliance matrix at init";
             }
         }
         filebuffer.close();