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[StateContainer] fix warnings declaration of * hides class member #6187

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f61be25
move getPX, getPY, getPZ, getVX, getVY and getVZ to the definition file
alxbilger Jul 15, 2026
51003e3
rename variables to fix warning `declaration of * hides class member`
alxbilger Jul 15, 2026
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12 changes: 6 additions & 6 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,9 +55,9 @@ void registerMechanicalObject(sofa::core::ObjectFactory* factory)
template<>
void MechanicalObject<defaulttype::Rigid3Types>::applyRotation (const type::Quat<SReal> q)
{
helper::WriteAccessor< Data<VecCoord> > x = *this->write(core::vec_id::write_access::position);
helper::WriteAccessor< Data<VecCoord> > x_wa = *this->write(core::vec_id::write_access::position);

for (RigidCoord<3, SReal>& xi : x)
for (RigidCoord<3, SReal>& xi : x_wa)
{
xi.getCenter() = q.rotate(xi.getCenter());
xi.getOrientation() = q * xi.getOrientation();
Expand Down Expand Up @@ -198,17 +198,17 @@ void MechanicalObject<defaulttype::Rigid3Types>::draw(const core::visual::Visual

if (showObject.getValue())
{
const float scale = showObjectScale.getValue();
const helper::ReadAccessor<Data<VecCoord> > x = *this->read(core::vec_id::write_access::position);
const float scaleValue = showObjectScale.getValue();
const helper::ReadAccessor<Data<VecCoord> > x_ra = *this->read(core::vec_id::write_access::position);
const size_t vsize = d_size.getValue();
for (size_t i = 0; i < vsize; ++i)
{
vparams->drawTool()->pushMatrix();
float glTransform[16];
///TODO: check if the drawtool use OpenGL-shaped matrix
x[i].writeOpenGlMatrix ( glTransform );
x_ra[i].writeOpenGlMatrix ( glTransform );
vparams->drawTool()->multMatrix( glTransform );
vparams->drawTool()->scale ( scale );
vparams->drawTool()->scale ( scaleValue );

constexpr type::Vec3f sizes ( 1.f,1.f,1.f );

Expand Down
55 changes: 28 additions & 27 deletions Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.h
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Original file line number Diff line number Diff line change
Expand Up @@ -119,23 +119,23 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>

void reset() override;

void writeVec(core::ConstVecId v, std::ostream &out) override;
void readVec(core::VecId v, std::istream &in) override;
SReal compareVec(core::ConstVecId v, std::istream &in) override;
void writeVec(core::ConstVecId vecId, std::ostream &out) override;
void readVec(core::VecId vecId, std::istream &in) override;
SReal compareVec(core::ConstVecId vecId, std::istream &in) override;

void writeState( std::ostream& out ) override;

/// @name New vectors access API based on VecId
/// @{

Data< VecCoord >* write(core::VecCoordId v) override;
const Data< VecCoord >* read(core::ConstVecCoordId v) const override;
Data< VecCoord >* write(core::VecCoordId vecId) override;
const Data< VecCoord >* read(core::ConstVecCoordId vecId) const override;

Data< VecDeriv >* write(core::VecDerivId v) override;
const Data< VecDeriv >* read(core::ConstVecDerivId v) const override;
Data< VecDeriv >* write(core::VecDerivId vecId) override;
const Data< VecDeriv >* read(core::ConstVecDerivId vecId) const override;

Data< MatrixDeriv >* write(core::MatrixDerivId v) override;
const Data< MatrixDeriv >* read(core::ConstMatrixDerivId v) const override;
Data< MatrixDeriv >* write(core::MatrixDerivId vecId) override;
const Data< MatrixDeriv >* read(core::ConstMatrixDerivId vecId) const override;

/// @}

Expand All @@ -147,14 +147,13 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>

Size getSize() const override { return d_size.getValue(); }

SReal getPX(sofa::Index i) const override { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z,(read(core::vec_id::read_access::position)->getValue())[i]); return (SReal)x; }
SReal getPY(sofa::Index i) const override { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z,(read(core::vec_id::read_access::position)->getValue())[i]); return (SReal)y; }
SReal getPZ(sofa::Index i) const override { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z,(read(core::vec_id::read_access::position)->getValue())[i]); return (SReal)z; }

SReal getVX(sofa::Index i) const { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z, read(core::vec_id::read_access::velocity)->getValue()[i]); return (SReal)x; }
SReal getVY(sofa::Index i) const { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z, read(core::vec_id::read_access::velocity)->getValue()[i]); return (SReal)y; }
SReal getVZ(sofa::Index i) const { Real x=0.0,y=0.0,z=0.0; DataTypes::get(x,y,z, read(core::vec_id::read_access::velocity)->getValue()[i]); return (SReal)z; }
SReal getPX(sofa::Index i) const override;
SReal getPY(sofa::Index i) const override;
SReal getPZ(sofa::Index i) const override;

SReal getVX(sofa::Index i) const;
SReal getVY(sofa::Index i) const;
SReal getVZ(sofa::Index i) const;

/** \brief Overwrite values at index outputIndex by the ones at inputIndex.
*
Expand Down Expand Up @@ -186,7 +185,7 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
/// @{

/// Apply translation vector to the position.
void applyTranslation (const SReal dx, const SReal dy, const SReal dz) override;
void applyTranslation (const SReal translationVectorX, const SReal translationVectorY, const SReal translationVectorZ) override;

/// Rotation using Euler Angles in degree.
void applyRotation (const SReal rx, const SReal ry, const SReal rz) override;
Expand Down Expand Up @@ -243,7 +242,7 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
/// @name Initial transformations accessors.
/// @{

void setTranslation(SReal dx, SReal dy, SReal dz) {translation.setValue(type::Vec3(dx,dy,dz));}
void setTranslation(SReal translationVectorX, SReal translationVectorY, SReal translationVectorZ);
void setRotation(SReal rx, SReal ry, SReal rz) {rotation.setValue(type::Vec3(rx,ry,rz));}
void setScale(SReal sx, SReal sy, SReal sz) {scale.setValue(type::Vec3(sx,sy,sz));}

Expand All @@ -263,23 +262,23 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
void accumulateForce(const core::ExecParams* params, core::VecDerivId f = core::vec_id::write_access::force) override; // see BaseMechanicalState::accumulateForce(const ExecParams*, VecId) override

/// Increment the index of the given VecCoordId, so that all 'allocated' vectors in this state have a lower index
void vAvail(const core::ExecParams* params, core::VecCoordId& v) override;
void vAvail(const core::ExecParams* params, core::VecCoordId& vecId) override;
/// Increment the index of the given VecDerivId, so that all 'allocated' vectors in this state have a lower index
void vAvail(const core::ExecParams* params, core::VecDerivId& v) override;
void vAvail(const core::ExecParams* params, core::VecDerivId& vecId) override;
/// Increment the index of the given MatrixDerivId, so that all 'allocated' vectors in this state have a lower index
//virtual void vAvail(core::MatrixDerivId& v);

/// Allocate a new temporary vector
void vAlloc(const core::ExecParams* params, core::VecCoordId v, const core::VecIdProperties& properties = {}) override;
void vAlloc(const core::ExecParams* params, core::VecCoordId vecId, const core::VecIdProperties& properties = {}) override;
/// Allocate a new temporary vector
void vAlloc(const core::ExecParams* params, core::VecDerivId v, const core::VecIdProperties& properties = {}) override;
void vAlloc(const core::ExecParams* params, core::VecDerivId vecId, const core::VecIdProperties& properties = {}) override;
/// Allocate a new temporary vector
//virtual void vAlloc(core::MatrixDerivId v);

/// Reallocate a new temporary vector
void vRealloc(const core::ExecParams* params, core::VecCoordId v, const core::VecIdProperties& properties = {}) override;
void vRealloc(const core::ExecParams* params, core::VecCoordId vecId, const core::VecIdProperties& properties = {}) override;
/// Reallocate a new temporary vector
void vRealloc(const core::ExecParams* params, core::VecDerivId v, const core::VecIdProperties& properties = {}) override;
void vRealloc(const core::ExecParams* params, core::VecDerivId vecId, const core::VecIdProperties& properties = {}) override;


/// Free a temporary vector
Expand All @@ -296,7 +295,9 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
/// Initialize an unset vector
//virtual void vInit(const core::ExecParams* params, core::MatrixDerivId v, core::ConstMatrixDerivId vSrc);

void vOp(const core::ExecParams* params, core::VecId v, core::ConstVecId a = core::ConstVecId::null(), core::ConstVecId b = core::ConstVecId::null(), SReal f=1.0) override;
void vOp(const core::ExecParams* params, core::VecId r,
core::ConstVecId a = core::ConstVecId::null(),
core::ConstVecId b = core::ConstVecId::null(), SReal f = 1.0) override;

void vMultiOp(const core::ExecParams* params, const VMultiOp& ops) override;

Expand All @@ -310,7 +311,7 @@ class MechanicalObject : public sofa::core::behavior::MechanicalState<DataTypes>
/// Maximum of the absolute values of the entries of state vector a. This is used to compute the infinite-norm of the vector.
SReal vMax(const core::ExecParams* params, core::ConstVecId a) override;

Size vSize( const core::ExecParams* params, core::ConstVecId v ) override;
Size vSize( const core::ExecParams* params, core::ConstVecId vecId ) override;

void resetForce(const core::ExecParams* params, core::VecDerivId f = core::vec_id::write_access::force) override;

Expand Down Expand Up @@ -445,7 +446,7 @@ protected :
/// Given the number of a constraint Equation, find the index in the MatrixDeriv C, where the constraint is actually stored
// unsigned int getIdxConstraintFromId(unsigned int id) const;

MechanicalObjectInternalData<DataTypes> data;
MechanicalObjectInternalData<DataTypes> m_data;

template <core::VecType vtype, core::VecAccess vaccess>
static void setVecIdProperties(core::TVecId<vtype, vaccess> v, const core::VecIdProperties& properties, core::BaseData* vec_d);
Expand Down
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