[All] Introduce Snapshot feature

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

@@ -269,4 +269,10 @@ void TetrahedronCollisionModel::computeBoundingTree(int maxDepth)
     }
 }
 
+void TetrahedronCollisionModel::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    SOFA_UNUSED(snapshot);
+    tetra = &m_topology->getTetrahedra();
+    resize(tetra->size());
+}
 } // namespace sofa::component::collision::geometry

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

@@ -123,6 +123,7 @@ class SOFA_COMPONENT_COLLISION_GEOMETRY_API TetrahedronCollisionModel : public c
     /// Link to be set to the topology container in the component graph.
     SingleLink<TetrahedronCollisionModel, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology;
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot) override;
 };
 
 inline Tetrahedron::Tetrahedron(TetrahedronCollisionModel* model, Index index)

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

@@ -194,6 +194,7 @@ class TriangleCollisionModel : public core::CollisionModel, public virtual core:
 
     Deriv velocity(sofa::Index index)const;
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot) override;
 
     /// Pre-construction check method called by ObjectFactory.
     /// Check that DataTypes matches the MechanicalState.

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

@@ -450,6 +450,14 @@ void TriangleCollisionModel<DataTypes>::drawCollisionModel(const core::visual::V
     }
 }
 
+template<class TDataTypes>
+void TriangleCollisionModel<TDataTypes>::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    m_triangles = &m_topology->getTriangles();
+    resize(m_topology->getNbTriangles());
+    updateNormals();
+}
+
 template<class DataTypes>
 inline const typename DataTypes::Coord& TTriangle<DataTypes>::p1() const { return this->model->mstate->read(core::vec_id::read_access::position)->getValue()[(*(this->model->m_triangles))[this->index][0]]; }
 template<class DataTypes>

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.cpp

@@ -400,4 +400,9 @@ void CollisionResponse::setContactTags(core::CollisionModel* model1, core::Colli
     }
 }
 
+void CollisionResponse::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    SOFA_UNUSED(snapshot);
+    contactMap.clear();
+}
 } // namespace sofa::component::collision::response::contact

Sofa/Component/Collision/Response/Contact/src/sofa/component/collision/response/contact/CollisionResponse.h

@@ -27,6 +27,7 @@
 #include <sofa/helper/OptionsGroup.h>
 #include <sofa/helper/map_ptr_stable_compare.h>
 
+
 namespace sofa::component::collision::response::contact
 {
 
@@ -83,6 +84,8 @@ public :
 
     std::string getDefaultResponseType() const { return d_response.getValue().getSelectedItem(); }
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject& snapshot) override;
+
 protected:
     typedef sofa::helper::map_ptr_stable_compare<
                 /* key */  std::pair<core::CollisionModel*, core::CollisionModel*>,

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.h

@@ -177,6 +177,8 @@ class BeamFEMForceField : public BaseLinearElasticityFEMForceField<DataTypes>
     void setBeam(Index i, SReal E, SReal L, SReal nu, SReal r, SReal rInner);
     void initBeams(std::size_t size);
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject& snapshot) override;
+
 protected:
     void drawElement(int i, std::vector< type::Vec3 >* points, const VecCoord& x);
     Real pseudoDeterminantForCoef ( const Mat<2, 3, Real>&  M );

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.inl

@@ -810,4 +810,11 @@ void BeamFEMForceField<DataTypes>::BeamInfo::init(SReal E, SReal L, SReal nu, SR
     _Asz = 0.0;
 }
 
+template<class DataTypes>
+void BeamFEMForceField<DataTypes>::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    SOFA_UNUSED(snapshot);
+    m_indexedElements = &this->l_topology->getEdges();
+}
+
 } // namespace sofa::component::solidmechanics::fem::elastic::_beamfemforcefield_

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.h

@@ -290,6 +290,9 @@ class TetrahedronFEMForceField : public BaseLinearElasticityFEMForceField<DataTy
     // Getting the stiffness matrix of index i
     void getElementStiffnessMatrix(Real* stiffness, Index nodeIdx);
 
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject& snapshot) override;
+
+
 protected:
     void computeStrainDisplacement( StrainDisplacement &J, Coord a, Coord b, Coord c, Coord d );
     Real peudo_determinant_for_coef ( const type::Mat<2, 3, Real>&  M );

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.inl

@@ -2421,5 +2421,10 @@ bool TetrahedronFEMForceField<DataTypes>::isComputeVonMisesStressMethodSet()
     return d_computeVonMisesStress.getValue() == 1 || d_computeVonMisesStress.getValue() == 2;
 }
 
-
+template<class DataTypes>
+void TetrahedronFEMForceField<DataTypes>::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    SOFA_UNUSED(snapshot);
+    this->reinit();
+}
 } //namespace sofa::component::solidmechanics::fem::elastic

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.h

@@ -129,6 +129,7 @@ class TriangleFEMForceField : public BaseLinearElasticityFEMForceField<DataTypes
     const Transformation& getRotationMatrix(Index elemId);
     const MaterialStiffness& getMaterialStiffness(Index elemId);
     const StrainDisplacement& getStrainDisplacements(Index elemId);
+    void loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject& snapshot) override;
 
 protected:
 

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.inl

@@ -715,4 +715,10 @@ const typename TriangleFEMForceField<DataTypes>::StrainDisplacement& TriangleFEM
     return InvalidStrainDisplacement;
 }
 
+template<class DataTypes>
+void TriangleFEMForceField<DataTypes>::loadInternalStateFrom(const core::objectmodel::Snapshot::SnapshotObject &snapshot)
+{
+    SOFA_UNUSED(snapshot);
+    _indexedElements = &(this->l_topology->getTriangles());
+}
 } // namespace sofa::component::solidmechanics::fem::elastic

Sofa/framework/Core/CMakeLists.txt

@@ -160,6 +160,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/objectmodel/BaseLink.h
     ${SRC_ROOT}/objectmodel/BaseNode.h
     ${SRC_ROOT}/objectmodel/BaseObjectDescription.h
+    ${SRC_ROOT}/objectmodel/Snapshot.h
     ${SRC_ROOT}/objectmodel/ClassInfo.h
     ${SRC_ROOT}/objectmodel/ComponentState.h
     ${SRC_ROOT}/objectmodel/ConfigurationSetting.h
@@ -178,6 +179,7 @@ set(HEADER_FILES
     ${SRC_ROOT}/objectmodel/HapticDeviceEvent.h
     ${SRC_ROOT}/objectmodel/IdleEvent.h
     ${SRC_ROOT}/objectmodel/JoystickEvent.h
+    ${SRC_ROOT}/objectmodel/JSONSnapshot.h
     ${SRC_ROOT}/objectmodel/KeypressedEvent.h
     ${SRC_ROOT}/objectmodel/KeyreleasedEvent.h
     ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.h
@@ -311,6 +313,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/objectmodel/BaseLink.cpp
     ${SRC_ROOT}/objectmodel/BaseNode.cpp
     ${SRC_ROOT}/objectmodel/BaseObjectDescription.cpp
+    ${SRC_ROOT}/objectmodel/Snapshot.cpp
     ${SRC_ROOT}/objectmodel/ClassInfo.cpp
     ${SRC_ROOT}/objectmodel/ComponentState.cpp
     ${SRC_ROOT}/objectmodel/ConfigurationSetting.cpp
@@ -328,6 +331,7 @@ set(SOURCE_FILES
     ${SRC_ROOT}/objectmodel/HapticDeviceEvent.cpp
     ${SRC_ROOT}/objectmodel/IdleEvent.cpp
     ${SRC_ROOT}/objectmodel/JoystickEvent.cpp
+    ${SRC_ROOT}/objectmodel/JSONSnapshot.cpp
     ${SRC_ROOT}/objectmodel/KeypressedEvent.cpp
     ${SRC_ROOT}/objectmodel/KeyreleasedEvent.cpp
     ${SRC_ROOT}/objectmodel/lifecycle/DeprecatedData.cpp

Sofa/framework/Core/simutest/CMakeLists.txt

@@ -10,6 +10,7 @@ set(SOURCE_FILES
     objectmodel/BaseContext_test.cpp
     objectmodel/BaseLink_simutest.cpp
     objectmodel/PathResolver_simutest.cpp
+    objectmodel/Snapshot_test.cpp
 )
 
 add_executable(${PROJECT_NAME} ${SOURCE_FILES})