Merge remote-tracking branch 'origin/master' into test_augmented_lagr…

…angians

.codespellrc

@@ -0,0 +1,3 @@
+[codespell]
+skip = CHANGELOG.md
+ignore-words-list = Sensable,SensAble,Datas,offsetT,dOut,*/extlibs/*,doubleClick,findOut,inForce,optionA

.github/workflows/post-announcements.yml

@@ -13,8 +13,15 @@ jobs:
     steps:
       - name: Check out code
         uses: actions/checkout@v2
+        if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
+
+      - name: Set up python
+        uses: actions/setup-python@v5
+        if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
+        with:
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         if: ( github.event.discussion.category.name == 'Announcement' ) || ( github.event.discussion.category.name == 'Share your achievements' )
         run: |
           pip install python-graphql-client

.github/workflows/post-github-activity-issues.yml

@@ -14,7 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

.github/workflows/post-github-activity-pr.yml

@@ -18,7 +18,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

.github/workflows/post-github-activity-star.yml

@@ -13,7 +13,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

.github/workflows/post-pending-discussions.yml

@@ -14,12 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Set up Python
-        uses: actions/setup-python@v2
+      - name: Set up python
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.10' # Use the desired Python version
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

.github/workflows/post-release.yml

@@ -14,7 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Install dependencies
+      - name: Set up python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

.github/workflows/stale_github_discussions.yml

@@ -14,12 +14,12 @@ jobs:
       - name: Check out code
         uses: actions/checkout@v2
 
-      - name: Set up Python
-        uses: actions/setup-python@v2
+      - name: Set up python
+        uses: actions/setup-python@v5
         with:
-          python-version: '3.10' # Use the desired Python version
+          python-version: '3.12'
 
-      - name: Install dependencies
+      - name: Install pip packages
         run: |
           pip install python-graphql-client
           pip install python-dateutil

CMakeLists.txt

@@ -440,7 +440,7 @@ if(SOFA_BUILD_RELEASE_PACKAGE)
         set(CPACK_NSIS_EXTRA_INSTALL_COMMANDS "${EXTRA_INSTALL_COMMAND}")
         set(CPACK_NSIS_MENU_LINKS
             "https://www.sofa-framework.org/documentation/" "SOFA User Documentation"
-            "https://www.sofa-framework.org/api/" "SOFA Developper API"
+            "https://www.sofa-framework.org/api/" "SOFA Developer API"
             "https://github.com/sofa-framework/sofa/discussions" "SOFA Support")
     endif()
     #######################

CONTRIBUTING.md

@@ -108,7 +108,7 @@ For more information on forks and pull request, check out [this GitHub guide](ht
 
 ### SOFA Developer Certificate Of Origin (DCO)
 
-SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developper Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
+SOFA is using the [mechanism of the linux project](https://www.kernel.org/doc/html/latest/process/submitting-patches.html#sign-your-work-the-developer-s-certificate-of-origin) to track and secure all issues related to copyrights: the Developer Certificate of Origin (DCO). If you are contributing code or documentation to the SOFA project, and using the git signed-off-by mechanism, you are agreeing to this certificate.  This DCO essentially means that:
 
 - you offer the changes under the same license agreement as the project, and
 - you have the right to do that,

GUIDELINES.md

@@ -5,7 +5,7 @@
 ### Base rules
 The base rules are in Google C++ Style Guide: https://google.github.io/styleguide/cppguide.html   
 All rules below **replace** the corresponding base rules.  
-For any subject not mentionned below, please refer to the base.
+For any subject not mentioned below, please refer to the base.
 
 ### Commit message
 A correct commit message must therefore be structured as:  

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp

@@ -220,7 +220,7 @@ ConstraintAnimationLoop::ConstraintAnimationLoop() :
     , d_doCollisionsFirst(initData(&d_doCollisionsFirst, false, "doCollisionsFirst","Compute the collisions first (to support penality-based contacts)"))
     , d_doubleBuffer( initData(&d_doubleBuffer, false, "doubleBuffer","Double the buffer dedicated to the constraint problem to make it accessible to another thread"))
     , d_scaleTolerance( initData(&d_scaleTolerance, true, "scaleTolerance","Scale the error tolerance with the number of constraints"))
-    , d_allVerified( initData(&d_allVerified, false, "allVerified","All contraints must be verified (each constraint's error < tolerance)"))
+    , d_allVerified( initData(&d_allVerified, false, "allVerified","All constraints must be verified (each constraint's error < tolerance)"))
     , d_sor( initData(&d_sor, 1.0_sreal, "sor","Successive Over Relaxation parameter (0-2)"))
     , d_schemeCorrection( initData(&d_schemeCorrection, false, "schemeCorrection","Apply new scheme where compliance is progressively corrected"))
     , d_realTimeCompensation( initData(&d_realTimeCompensation, false, "realTimeCompensation","If the total computational time T < dt, sleep(dt-T)"))

Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.h

@@ -114,7 +114,7 @@ class SOFA_COMPONENT_ANIMATIONLOOP_API ConstraintAnimationLoop : public sofa::si
     Data<bool> d_doCollisionsFirst; ///< Compute the collisions first (to support penality-based contacts)
     Data<bool> d_doubleBuffer; ///< Double the buffer dedicated to the constraint problem to make it accessible to another thread
     Data<bool> d_scaleTolerance; ///< Scale the error tolerance with the number of constraints
-    Data<bool> d_allVerified; ///< All contraints must be verified (each constraint's error < tolerance)
+    Data<bool> d_allVerified; ///< All constraints must be verified (each constraint's error < tolerance)
     Data<SReal> d_sor; ///< Successive Over Relaxation parameter (0-2)
     Data<bool> d_schemeCorrection; ///< Apply new scheme where compliance is progressively corrected
     Data<bool> d_realTimeCompensation; ///< If the total computational time T < dt, sleep(dt-T)

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BVHNarrowPhase.cpp

@@ -29,9 +29,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BVHNarrowPhaseClass = core::RegisterObject("Narrow phase collision detection based on boundary volume hierarchy")
-        .add< BVHNarrowPhase >()
-;
+void registerBVHNarrowPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Narrow phase collision detection based on boundary volume hierarchy.")
+        .add< BVHNarrowPhase >());
+}
 
 BVHNarrowPhase::BVHNarrowPhase() : core::collision::NarrowPhaseDetection()
 {}

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceBroadPhase.cpp

@@ -28,9 +28,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BruteForceBroadPhaseClass = core::RegisterObject("Broad phase collision detection using extensive pair-wise tests")
-        .add< BruteForceBroadPhase >()
-;
+void registerBruteForceBroadPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Broad phase collision detection using extensive pair-wise tests.")
+        .add< BruteForceBroadPhase >());
+}
 
 BruteForceBroadPhase::BruteForceBroadPhase()
         : d_box(initData(&d_box, "box", "if not empty, objects that do not intersect this bounding-box will be ignored"))

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/BruteForceDetection.cpp

@@ -27,9 +27,11 @@
 namespace sofa::component::collision::detection::algorithm
 {
 
-int BruteForceDetectionClass = core::RegisterObject(
-        "Combination of brute force broad phase and BVH narrow phase collision detection")
-        .add<BruteForceDetection>();
+void registerBruteForceDetection(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Combination of brute force broad phase and BVH narrow phase collision detection.")
+        .add<BruteForceDetection>());
+}
 
 void BruteForceDetection::init()
 {

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPM.h

@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
         /**
           *x and y value are used to identify this pair, the order is not important but the order of elem1_ and elem2_ is because
-          *when using intersect funcion we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
+          *when using intersect function we run inter->intersect(elem1,elem2,output), so the intersect method must handle the order you give.
           */
         CollidingPair(const core::CollisionElementIterator & elem1_,const core::CollisionElementIterator & elem2_,core::collision::ElementIntersector * /*inter*/) :
             elem1(elem1_),elem2(elem2_)

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/CollisionPipeline.cpp

@@ -48,16 +48,17 @@ using namespace core::objectmodel;
 using namespace core::collision;
 using namespace sofa::defaulttype;
 
-int CollisionPipelineClass = core::RegisterObject("The default collision detection and modeling pipeline")
-        .add< CollisionPipeline >()
-        .addAlias("DefaultPipeline")
-        ;
+void registerCollisionPipeline(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("The default collision detection and modeling pipeline.")
+        .add< CollisionPipeline >());
+}
 
 const int CollisionPipeline::defaultDepthValue = 6;
 
 CollisionPipeline::CollisionPipeline()
     : d_doPrintInfoMessage(initData(&d_doPrintInfoMessage, false, "verbose",
-                                    "Display extra informations at each computation step. (default=false)"))
+                                    "Display extra information at each computation step. (default=false)"))
     , d_doDebugDraw(initData(&d_doDebugDraw, false, "draw",
                              "Draw the detected collisions. (default=false)"))
 

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAP.cpp

@@ -25,9 +25,12 @@
 
 namespace sofa::component::collision::detection::algorithm
 {
-    int DirectSAPClass = core::RegisterObject("Collision detection using sweep and prune")
-        .add< DirectSAP >();
 
+void registerDirectSAP(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Collision detection using sweep and prune.")
+        .add< DirectSAP >());
+}
 
 void DirectSAP::init()
 {

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.cpp

@@ -250,10 +250,10 @@ void DirectSAPNarrowPhase::narrowCollisionDetectionFromSortedEndPoints()
     SCOPED_TIMER_VARNAME(scopeTimer, "Direct SAP intersection");
     int nbInvestigatedPairs{ 0 };
 
-    std::list<int> activeBoxes;//active boxes are the one that we encoutered only their min (end point), so if there are two boxes b0 and b1,
+    std::list<int> activeBoxes;//active boxes are the one that we encountered only their min (end point), so if there are two boxes b0 and b1,
     //if we encounter b1_min as b0_min < b1_min, on the current axis, the two boxes intersect :  b0_min--------------------b0_max
     //                                                                                                      b1_min---------------------b1_max
-    //once we encouter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
+    //once we encounter b0_max, b0 will not intersect with nothing (trivial), so we delete it from active_boxes.
     //so the rule is : -every time we encounter a box min end point, we check if it is overlapping with other active_boxes and add the owner (a box) of this end point to
     //                  the active boxes.
     //                 -every time we encounter a max end point of a box, we are sure that we encountered min end point of a box because _end_points is sorted,
@@ -449,11 +449,10 @@ inline void DSAPBox::show()const
                         <<"MAX "<<cube.maxVect() ;
 }
 
-using namespace sofa::defaulttype;
-using namespace collision;
-
-int DirectSAPNarrowPhaseClass = core::RegisterObject("Collision detection using sweep and prune")
-        .add< DirectSAPNarrowPhase >()
-;
+void registerDirectSAPNarrowPhase(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(core::ObjectRegistrationData("Narrow phase of the collision detection using sweep and prune.")
+        .add< DirectSAPNarrowPhase >());
+}
 
 }

Sofa/Component/Collision/Detection/Algorithm/src/sofa/component/collision/detection/algorithm/DirectSAPNarrowPhase.h

@@ -38,7 +38,7 @@ namespace sofa::component::collision::detection::algorithm
 
 /**
  * This class is an implementation of sweep and prune in its "direct" version, i.e. at each step
- * it sorts all the primitives along an axis (not checking the moving ones) and computes overlaping pairs without
+ * it sorts all the primitives along an axis (not checking the moving ones) and computes overlapping pairs without
  * saving it. But the memory used to save these primitives is created just once, the first time we add CollisionModels.
  */
 class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : public core::collision::NarrowPhaseDetection
@@ -53,7 +53,7 @@ class SOFA_COMPONENT_COLLISION_DETECTION_ALGORITHM_API DirectSAPNarrowPhase : pu
     /** \brief Returns the axis number which have the greatest variance for the primitive end points.
      *
      * This axis is used when updating and sorting end points. The greatest variance means
-     * that this axis have the most chance to eliminate a maximum of not overlaping SAPBox pairs
+     * that this axis have the most chance to eliminate a maximum of not overlapping SAPBox pairs
      * because along this axis, SAPBoxes are the sparsest.
      */
     int greatestVarianceAxis() const;