[Config] Introduce SOFA modules data structure (sofa-framework#5148)

* Introduce SOFA modules data structure * apply everywhere * don't shadow with unique name * try to fix * generate unit tests automatically * remove dependency to string and make modules constexpr * restore conversion to string * constexpr * remove ambiguity * include modules.h only when necessary
mimesis-inria · Jan 9, 2025 · 88320b8 · 88320b8
1 parent 1cbfa03
commit 88320b8
Showing 70 changed files with 956 additions and 651 deletions.
diff --git a/Sofa/Component/CMakeLists.txt b/Sofa/Component/CMakeLists.txt
@@ -49,3 +49,10 @@ sofa_create_package_with_targets(
     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(SOFA_COMPONENT_BUILD_TESTS "Compile the automatic tests" ON "SOFA_BUILD_TESTS OR NOT DEFINED SOFA_BUILD_TESTS" OFF)
+if(SOFA_COMPONENT_BUILD_TESTS)
+    add_subdirectory(test)
+endif()
diff --git a/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp b/Sofa/Component/Collision/Detection/Algorithm/tests/CollisionPipeline_test.cpp
@@ -76,8 +76,8 @@ class TestCollisionPipeline : public BaseSimulationTest {
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer"); 
-        sofa::simpleapi::importPlugin("Sofa.Component.Collision");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Collision);
     }
 
     void TearDown() override

diff --git a/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp b/Sofa/Component/Collision/Detection/Intersection/tests/LocalMinDistance_test.cpp
@@ -56,8 +56,8 @@ namespace
 struct TestLocalMinDistance : public BaseSimulationTest {
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Collision.Detection.Intersection");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Collision.Detection.Intersection);
     }
     void TearDown() override
     {

diff --git a/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp b/Sofa/Component/Collision/Detection/src/sofa/component/collision/detection/init.cpp
@@ -26,6 +26,7 @@
 
 #include <sofa/helper/system/PluginManager.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::collision::detection
 {
@@ -54,8 +55,8 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Algorithm");
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection.Intersection");
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection.Algorithm);
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection.Intersection);
 }
 
 void init()

diff --git a/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp b/Sofa/Component/Collision/Geometry/tests/Sphere_test.cpp
@@ -72,8 +72,8 @@ struct TestSphere : public BaseSimulationTest
 {
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Collision.Geometry");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Collision.Geometry);
 
         m_proxIntersection = sofa::core::objectmodel::New<MinProximityIntersection>();
         m_proxIntersection->setAlarmDistance(1.0);

diff --git a/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp b/Sofa/Component/Collision/Response/src/sofa/component/collision/response/init.cpp
@@ -26,6 +26,7 @@
 
 #include <sofa/helper/system/PluginManager.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::collision::response
 {
@@ -54,8 +55,8 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Mapper");
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response.Contact");
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response.Mapper);
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response.Contact);
 }
 
 void init()

diff --git a/Sofa/Component/Collision/src/sofa/component/collision/init.cpp b/Sofa/Component/Collision/src/sofa/component/collision/init.cpp
@@ -27,6 +27,7 @@
 
 #include <sofa/helper/system/PluginManager.h>
 #include <sofa/core/ObjectFactory.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::collision
 {
@@ -55,9 +56,9 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Geometry");
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Detection");
-    factory->registerObjectsFromPlugin("Sofa.Component.Collision.Response");
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Geometry);
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Detection);
+    factory->registerObjectsFromPlugin(Sofa.Component.Collision.Response);
 }
 
 void init()

diff --git a/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp b/Sofa/Component/Constraint/Lagrangian/src/sofa/component/constraint/lagrangian/init.cpp
@@ -27,6 +27,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::constraint::lagrangian
 {
@@ -55,9 +56,9 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Correction");
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Model");
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian.Solver");
+    factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Correction);
+    factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Model);
+    factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian.Solver);
 }
 
 void init()

diff --git a/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp b/Sofa/Component/Constraint/Projective/tests/FixedProjectiveConstraint_test.cpp
@@ -81,9 +81,9 @@ struct FixedProjectiveConstraint_test : public BaseTest
         const simulation::Node::SPtr root = simulation->createNewGraph("root");
         root->setGravity( type::Vec3(0,0,0) );
 
-        simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.LinearSolver.Direct"}}) ;
-        simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Forward"}}) ;
-        simpleapi::createObject(root , "RequiredPlugin", {{"name", "Sofa.Component.ODESolver.Backward"}}) ;
+        simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.LinearSolver.Direct}}) ;
+        simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Forward}}) ;
+        simpleapi::createObject(root , "RequiredPlugin", {{"name", Sofa.Component.ODESolver.Backward}}) ;
 
         simulation::Node::SPtr node = createEulerSolverNode(root,"test", integrationScheme);
 

diff --git a/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp b/Sofa/Component/Constraint/src/sofa/component/constraint/init.cpp
@@ -26,6 +26,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::constraint
 {
@@ -54,8 +55,8 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Lagrangian");
-    factory->registerObjectsFromPlugin("Sofa.Component.Constraint.Projective");
+    factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Lagrangian);
+    factory->registerObjectsFromPlugin(Sofa.Component.Constraint.Projective);
 }
 
 void init()

diff --git a/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp b/Sofa/Component/Engine/Select/tests/BoxROI_test.cpp
@@ -73,9 +73,9 @@ struct BoxROITest :  public sofa::testing::BaseTest
     void onSetUp() override
     {
         this->loadPlugins({
-            "Sofa.Component.StateContainer",
-            "Sofa.Component.Topology.Container.Dynamic",
-            "Sofa.Component.Engine.Select"});
+            Sofa.Component.StateContainer,
+            Sofa.Component.Topology.Container.Dynamic,
+            Sofa.Component.Engine.Select});
 
         m_simu = sofa::simulation::getSimulation();
         ASSERT_NE(m_simu, nullptr);

diff --git a/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp b/Sofa/Component/Engine/Select/tests/MeshROI_test.cpp
@@ -63,9 +63,9 @@ struct MeshROI_test : public BaseSimulationTest,
 
     void SetUp() override
     {
-        simpleapi::importPlugin("Sofa.Component.Engine.Select");
-        simpleapi::importPlugin("Sofa.Component.Topology.Container.Constant");
-        simpleapi::importPlugin("Sofa.Component.IO.Mesh");
+        simpleapi::importPlugin(Sofa.Component.Engine.Select);
+        simpleapi::importPlugin(Sofa.Component.Topology.Container.Constant);
+        simpleapi::importPlugin(Sofa.Component.IO.Mesh);
 
         // SetUp3
         const string scene2 =

diff --git a/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp b/Sofa/Component/Engine/Select/tests/MeshSubsetEngine_test.cpp
@@ -33,7 +33,7 @@ struct MeshSubsetEngine_test : public testing::BaseSimulationTest
 
     void SetUp() override
     {
-        simpleapi::importPlugin("Sofa.Component.Engine.Select");
+        simpleapi::importPlugin(Sofa.Component.Engine.Select);
 
         m_root = simulation::getSimulation()->createNewNode("root");
         ASSERT_NE(nullptr, m_root);

diff --git a/Sofa/Component/Engine/src/sofa/component/engine/init.cpp b/Sofa/Component/Engine/src/sofa/component/engine/init.cpp
@@ -28,6 +28,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::engine
 {
@@ -56,10 +57,10 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Analyze");
-    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Generate");
-    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Select");
-    factory->registerObjectsFromPlugin("Sofa.Component.Engine.Transform");
+    factory->registerObjectsFromPlugin(Sofa.Component.Engine.Analyze);
+    factory->registerObjectsFromPlugin(Sofa.Component.Engine.Generate);
+    factory->registerObjectsFromPlugin(Sofa.Component.Engine.Select);
+    factory->registerObjectsFromPlugin(Sofa.Component.Engine.Transform);
 }
 
 void init()

diff --git a/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshExporter_test.cpp
@@ -77,8 +77,8 @@ class MeshExporter_test
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid);
     }
 
     void TearDown() override

diff --git a/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp b/Sofa/Component/IO/Mesh/tests/MeshXspLoader_test.cpp
@@ -35,7 +35,7 @@ class MeshXspLoader_test : public BaseSimulationTest
         const Node::SPtr root = sofa::simpleapi::createRootNode(simulation, "root");
 
         sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
-        sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name","Sofa.Component.IO.Mesh" } });
+        sofa::simpleapi::createObject(root, "RequiredPlugin", { { "name",Sofa.Component.IO.Mesh } });
         auto loader = sofa::simpleapi::createObject(root, "MeshXspLoader",
                                       {{"filename", std::string(SOFA_COMPONENT_IO_MESH_TEST_FILES_DIR)+"test.xs3"}});
         sofa::simulation::node::initRoot(root.get());

diff --git a/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp b/Sofa/Component/IO/Mesh/tests/STLExporter_test.cpp
@@ -67,9 +67,9 @@ class STLExporter_test : public BaseSimulationTest {
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Visual");
-        sofa::simpleapi::importPlugin("Sofa.Component.IO.Mesh");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Visual);
+        sofa::simpleapi::importPlugin(Sofa.Component.IO.Mesh);
     }
 
     void TearDown() override

diff --git a/Sofa/Component/IO/src/sofa/component/io/init.cpp b/Sofa/Component/IO/src/sofa/component/io/init.cpp
@@ -25,6 +25,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::io
 {
@@ -53,7 +54,7 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.IO.Mesh");
+    factory->registerObjectsFromPlugin(Sofa.Component.IO.Mesh);
 }
 
 void init()

diff --git a/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp b/Sofa/Component/LinearSolver/Direct/tests/SparseLDLSolver_test.cpp
@@ -58,9 +58,9 @@ TEST(SparseLDLSolver, EmptyMState)
     const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root");
 
     const auto plugins = sofa::testing::makeScopedPlugin({
-        "Sofa.Component.LinearSolver.Direct",
-        "Sofa.Component.ODESolver.Backward",
-        "Sofa.Component.StateContainer"});
+        Sofa.Component.LinearSolver.Direct,
+        Sofa.Component.ODESolver.Backward,
+        Sofa.Component.StateContainer});
 
     sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
     sofa::simpleapi::createObject(root, "EulerImplicitSolver");
@@ -87,12 +87,12 @@ TEST(SparseLDLSolver, TopologyChangeEmptyMState)
     const sofa::simulation::Node::SPtr root = sofa::simulation::getSimulation()->createNewGraph("root");
 
     const auto plugins = sofa::testing::makeScopedPlugin({
-        "Sofa.Component.LinearSolver.Direct",
-        "Sofa.Component.Mass",
-        "Sofa.Component.ODESolver.Backward",
-        "Sofa.Component.StateContainer",
-        "Sofa.Component.Topology.Container.Dynamic",
-        "Sofa.Component.Topology.Utility"});
+        Sofa.Component.LinearSolver.Direct,
+        Sofa.Component.Mass,
+        Sofa.Component.ODESolver.Backward,
+        Sofa.Component.StateContainer,
+        Sofa.Component.Topology.Container.Dynamic,
+        Sofa.Component.Topology.Utility});
 
     sofa::simpleapi::createObject(root, "DefaultAnimationLoop");
     sofa::simpleapi::createObject(root, "EulerImplicitSolver");

diff --git a/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp b/Sofa/Component/LinearSolver/src/sofa/component/linearsolver/init.cpp
@@ -28,6 +28,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::linearsolver
 {
@@ -56,10 +57,10 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Direct");
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Iterative");
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Ordering");
-    factory->registerObjectsFromPlugin("Sofa.Component.LinearSolver.Preconditioner");
+    factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Direct);
+    factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Iterative);
+    factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Ordering);
+    factory->registerObjectsFromPlugin(Sofa.Component.LinearSolver.Preconditioner);
 }
 
 void init()

diff --git a/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp b/Sofa/Component/LinearSystem/tests/MappingGraph_test.cpp
@@ -176,7 +176,7 @@ TEST(MappingGraph, diamondMapping)
     sofa::simulation::Node::SPtr root = simulation->createNewGraph("root");
     EXPECT_EQ(root->getName(), "root");
 
-    sofa::simpleapi::importPlugin("Sofa.Component.Mapping.Linear");
+    sofa::simpleapi::importPlugin(Sofa.Component.Mapping.Linear);
 
     const auto top = sofa::core::objectmodel::New<sofa::component::statecontainer::MechanicalObject<sofa::defaulttype::Vec3Types> >();
     root->addObject(top);

diff --git a/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp b/Sofa/Component/Mapping/NonLinear/tests/SquareDistanceMapping_test.cpp
@@ -154,7 +154,7 @@ struct SquareDistanceMappingCompare_test : NumericTest<SReal>
     {
         root = simulation::getSimulation()->createNewNode("root");
 
-        simpleapi::createObject(root, "RequiredPlugin", {{"pluginName", "Sofa.Component"}});
+        simpleapi::createObject(root, "RequiredPlugin", {{"pluginName", Sofa.Component}});
         simpleapi::createObject(root, "DefaultAnimationLoop");
         simpleapi::createObject(root, "StringMeshCreator", {{"name", "loader"}, {"resolution", "3"}});
 

diff --git a/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp b/Sofa/Component/Mapping/src/sofa/component/mapping/init.cpp
@@ -25,6 +25,7 @@
 
 #include <sofa/core/ObjectFactory.h>
 #include <sofa/helper/system/PluginManager.h>
+#include <sofa/Modules.h>
 
 namespace sofa::component::mapping
 {
@@ -53,8 +54,8 @@ const char* getModuleVersion()
 
 void registerObjects(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.Linear");
-    factory->registerObjectsFromPlugin("Sofa.Component.Mapping.NonLinear");
+    factory->registerObjectsFromPlugin(Sofa.Component.Mapping.Linear);
+    factory->registerObjectsFromPlugin(Sofa.Component.Mapping.NonLinear);
 }
 
 void init()

diff --git a/Sofa/Component/Mass/tests/DiagonalMass_test.cpp b/Sofa/Component/Mass/tests/DiagonalMass_test.cpp
@@ -98,10 +98,10 @@ class DiagonalMass_test : public BaseTest
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
+        sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic);
+        sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid);
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Mass);
 
         simulation = simulation::getSimulation();
         root = simulation::getSimulation()->createNewGraph("root");

diff --git a/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp b/Sofa/Component/Mass/tests/MeshMatrixMass_test.cpp
@@ -101,10 +101,10 @@ class MeshMatrixMass_test : public BaseTest
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Dynamic");
-        sofa::simpleapi::importPlugin("Sofa.Component.Topology.Container.Grid");
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
+        sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Dynamic);
+        sofa::simpleapi::importPlugin(Sofa.Component.Topology.Container.Grid);
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Mass);
 
         simulation = simulation::getSimulation();
         root = simulation::getSimulation()->createNewGraph("root");

diff --git a/Sofa/Component/Mass/tests/UniformMass_test.cpp b/Sofa/Component/Mass/tests/UniformMass_test.cpp
@@ -79,8 +79,8 @@ struct UniformMassTest :  public BaseTest
 
     void SetUp() override
     {
-        sofa::simpleapi::importPlugin("Sofa.Component.StateContainer");
-        sofa::simpleapi::importPlugin("Sofa.Component.Mass");
+        sofa::simpleapi::importPlugin(Sofa.Component.StateContainer);
+        sofa::simpleapi::importPlugin(Sofa.Component.Mass);
 
         todo = true ;
         m_simu = sofa::simulation::getSimulation();