From 042e2f1367a5e975a466e2bc1bad12c450bc119c Mon Sep 17 00:00:00 2001
From: Alex Bilger <alexbilger0@gmail.com>
Date: Wed, 15 Jul 2026 11:47:02 +0200
Subject: [PATCH 1/3] avoid many calls to getValue in drawIndices

---
 .../sofa/component/statecontainer/MechanicalObject.inl    | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
index 278f489da96..01abc2f66c7 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
@@ -2632,8 +2632,12 @@ inline void MechanicalObject<DataTypes>::drawIndices(const core::visual::VisualP
 {
     std::vector<type::Vec3> positions;
     positions.reserve(d_size.getValue());
-    for (int i = 0; i <d_size.getValue(); ++i)
-        positions.push_back(type::Vec3(getPX(i), getPY(i), getPZ(i)));
+
+    const auto positionData = this->readPositions();
+    std::transform(positionData.begin(), positionData.end(), std::back_inserter(positions), [](const auto& p)
+    {
+        return sofa::type::toVec3(DataTypes::getCPos(p));
+    });
 
     vparams->drawTool()->draw3DText_Indices(positions, showIndicesScale.getValue(), d_color.getValue());
 }

From 93bd30323d9b0856d005513f1844bd1b4260e5b3 Mon Sep 17 00:00:00 2001
From: Alex Bilger <alexbilger0@gmail.com>
Date: Wed, 15 Jul 2026 11:53:24 +0200
Subject: [PATCH 2/3] avoid many calls to getValue in drawVectors

---
 .../statecontainer/MechanicalObject.inl       | 21 ++++++++++++-------
 1 file changed, 14 insertions(+), 7 deletions(-)

diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
index 01abc2f66c7..19081798c1d 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
@@ -2646,18 +2646,25 @@ template <class DataTypes>
 inline void MechanicalObject<DataTypes>::drawVectors(const core::visual::VisualParams* vparams)
 {
     float scale = showVectorsScale.getValue();
-    sofa::helper::ReadAccessor< Data<VecDeriv> > v_rA = *this->read(core::vec_id::read_access::velocity);
+
+    const auto v_rA = sofa::helper::getReadAccessor(*this->read(core::vec_id::read_access::velocity));
+    const auto x_rA = sofa::helper::getReadAccessor(*this->read(core::vec_id::read_access::position));
+
     type::vector<type::Vec3> points;
     points.resize(2);
-    for(Size i=0; i<v_rA.size(); ++i )
+
+    const auto mode = drawMode.getValue();
+
+    for (Size i = 0; i < v_rA.size(); ++i)
     {
-        Real vx=0.0,vy=0.0,vz=0.0;
-        DataTypes::get(vx,vy,vz,v_rA[i]);
-        type::Vec3 p1 = type::Vec3(getPX(i), getPY(i), getPZ(i));
-        type::Vec3 p2 = type::Vec3(getPX(i)+scale*vx, getPY(i)+scale*vy, getPZ(i)+scale*vz);
+        sofa::type::Vec3 v3;
+        DataTypes::get(v3[0], v3[1], v3[2], v_rA[i]);
+
+        const type::Vec3 p1 = sofa::type::toVec3(DataTypes::getCPos(x_rA[i]));
+        type::Vec3 p2 = p1 + scale * v3;
 
         const float rad = (float)( (p1-p2).norm()/20.0 );
-        switch (drawMode.getValue())
+        switch (mode)
         {
         case 0:
             points[0] = p1;

From 166ff22837f387f6fecfac1ff07901b20bb9aeab Mon Sep 17 00:00:00 2001
From: Alex Bilger <alexbilger0@gmail.com>
Date: Wed, 15 Jul 2026 11:54:42 +0200
Subject: [PATCH 3/3] avoid many calls to getValue in draw

---
 .../component/statecontainer/MechanicalObject.inl    | 12 +++++++++---
 1 file changed, 9 insertions(+), 3 deletions(-)

diff --git a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
index 19081798c1d..9499b8a7d1a 100644
--- a/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
+++ b/Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.inl
@@ -2703,9 +2703,15 @@ inline void MechanicalObject<DataTypes>::draw(const core::visual::VisualParams*
     if (showObject.getValue())
     {
         const float& scale = showObjectScale.getValue();
-        type::vector<type::Vec3> positions(d_size.getValue());
-        for (sofa::Index i = 0; i < Size(d_size.getValue()); ++i)
-            positions[i] = type::Vec3(getPX(i), getPY(i), getPZ(i));
+
+        std::vector<type::Vec3> positions;
+        positions.reserve(d_size.getValue());
+
+        const auto positionData = this->readPositions();
+        std::transform(positionData.begin(), positionData.end(), std::back_inserter(positions), [](const auto& p)
+        {
+            return sofa::type::toVec3(DataTypes::getCPos(p));
+        });
 
         switch (drawMode.getValue())
         {