Compilation without Compatibility Layer from SOFA (#268)

* make it compile wo compat

* fix tests & co

* fix tests & co 2

* fix tests & co 3

* remove unnecessary inits

* replace collision response string in scenes

* correct indentation (use spaces instead of tabs)

* add v2206 compilation for GA CI

* apply suggestions (edit cmake.in files to reflect changes)

* Update Bindings.SofaRuntimeConfig.cmake.in

Co-authored-by: Guillaume Paran <guillaume.paran@sofa-framework.org>

Author: fredroy

.github/workflows/ci.yml

@@ -19,7 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         os: [ubuntu-20.04, macos-10.15, windows-2019]
-        sofa_branch: [master]
+        sofa_branch: [master, v22.06]
         python_version: ['3.8']
 
     steps:

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.12)
 
 project(SofaPython3 VERSION 20.12.00)
 
-find_package(SofaFramework REQUIRED)
+find_package(Sofa.Config REQUIRED)
 
 # Detect if SofaPython3 is a subproject of another project (eg. when compiled within Sofa)
 if (NOT "${CMAKE_PROJECT_NAME}" STREQUAL "${PROJECT_NAME}")

Plugin/CMakeLists.txt

@@ -40,15 +40,14 @@ if(SP3_BUILD_TEST)
 endif(SP3_BUILD_TEST)
 
 find_package(pybind11 CONFIG REQUIRED)
-find_package(SofaFramework REQUIRED)
-find_package(SofaSimulationGraph REQUIRED)
+find_package(Sofa.Simulation.Graph REQUIRED)
 
 add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
 add_library(SofaPython3::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE "-DSOFA_BUILD_SOFAPYTHON3")
 
-target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Core Sofa.DefaultType Sofa.SimulationCore SofaSimulationGraph Sofa.Helper)
+target_link_libraries(${PROJECT_NAME} PUBLIC Sofa.Simulation.Graph)
 target_link_libraries(${PROJECT_NAME} PUBLIC pybind11::module pybind11::embed)
 
 if(SP3_BUILD_TEST AND Sofa.Testing_FOUND)

Plugin/PluginConfig.cmake.in

@@ -6,8 +6,8 @@
 set(SP3_BUILD_TEST @SP3_BUILD_TEST@)
 
 find_package(pybind11 QUIET REQUIRED CONFIG)
-find_package(SofaFramework QUIET REQUIRED)
-find_package(SofaSimulationGraph QUIET REQUIRED)
+find_package(Sofa.Simulation.Graph QUIET REQUIRED)
+
 if(SP3_BUILD_TEST)
     find_package(Sofa.Testing QUIET REQUIRED)
 endif()

Plugin/src/SofaPython3/Prefab.h

@@ -19,7 +19,7 @@
 ******************************************************************************/
 
 #pragma once
-#include <SofaSimulationGraph/DAGNode.h>
+#include <sofa/simulation/graph/DAGNode.h>
 #include <sofa/core/objectmodel/DataCallback.h>
 
 #include <sofa/helper/system/FileMonitor.h>

Plugin/src/SofaPython3/PythonFactory.cpp

@@ -22,7 +22,7 @@
 #include <SofaPython3/PythonFactory.h>
 #include <SofaPython3/DataHelper.h>
 
-#include <SofaSimulationGraph/DAGNode.h>
+#include <sofa/simulation/graph/DAGNode.h>
 
 #include "sofa/simulation/AnimateBeginEvent.h"
 using sofa::simulation::AnimateBeginEvent;

Plugin/src/SofaPython3/PythonTest.cpp

@@ -32,7 +32,7 @@ namespace py = pybind11;
 #include <sofa/helper/system/PluginManager.h>
 using sofa::helper::system::PluginManager;
 
-#include <SofaSimulationGraph/SimpleApi.h>
+#include <sofa/simulation/graph/SimpleApi.h>
 namespace simpleapi=sofa::simpleapi;
 
 #include <sofa/helper/system/SetDirectory.h>

Plugin/src/SofaPython3/SceneLoaderPY3.cpp

@@ -21,7 +21,7 @@
 #include <sstream>
 #include <fstream>
 
-#include <SofaSimulationGraph/DAGNode.h>
+#include <sofa/simulation/graph/DAGNode.h>
 using sofa::simulation::graph::DAGNode;
 
 #include <SofaPython3/PythonEnvironment.h>

Plugin/src/SofaPython3/initModule.cpp

@@ -27,7 +27,7 @@ using sofapython3::PythonEnvironment;
 #include <sofa/defaulttype/init.h>
 #include <sofa/simulation/init.h>
 #include <sofa/helper/init.h>
-#include <SofaSimulationGraph/init.h>
+#include <sofa/simulation/graph/init.h>
 
 extern "C" {
 

bindings/Modules/Bindings.ModulesConfig.cmake.in

@@ -6,11 +6,13 @@
 find_package(SofaPython3 QUIET REQUIRED COMPONENTS Plugin Bindings.Sofa)
 
 # Required by Bindings.Modules.SofaBaseTopology
-find_package(SofaBaseTopology QUIET REQUIRED)
+find_package(Sofa.Component.Topology.Container.Grid QUIET REQUIRED)
+
 # Required by Bindings.Modules.SofaDeformable
-find_package(SofaDeformable QUIET REQUIRED)
+find_package(Sofa.Component.SolidMechanics.Spring QUIET REQUIRED)
+
 # Required by Bindings.Modules.SofaLinearSolver
-find_package(Sofa.Component.LinearSolver.Iterative REQUIRED)
+find_package(Sofa.Component.LinearSolver.Iterative QUIET REQUIRED)
 
 # If we are importing this config file and the target is not yet there this is indicating that
 # target is an imported one. So we include it