[Framework] Apply template method design pattern to ConstraintSolver

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.cpp

@@ -89,7 +89,7 @@ void ConstraintSolverImpl::cleanup()
     ConstraintSolver::cleanup();
 }
 
-void ConstraintSolverImpl::removeConstraintCorrection(core::behavior::BaseConstraintCorrection* s)
+void ConstraintSolverImpl::doRemoveConstraintCorrection(core::behavior::BaseConstraintCorrection* s)
 {
     l_constraintCorrections.remove(s);
 }

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/ConstraintSolverImpl.h

@@ -92,7 +92,7 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API ConstraintSolverImpl : pub
     /// This is used to prevent concurrent access to the LCP when using a LCPForceFeedback through an haptic thread.
     virtual void lockConstraintProblem(sofa::core::objectmodel::BaseComponent* from, ConstraintProblem* p1, ConstraintProblem* p2=nullptr) = 0;
 
-    void removeConstraintCorrection(core::behavior::BaseConstraintCorrection *s) override;
+    void doRemoveConstraintCorrection(core::behavior::BaseConstraintCorrection *s) override;
 
     MultiLink< ConstraintSolverImpl,
         core::behavior::BaseConstraintCorrection,

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.cpp

@@ -147,7 +147,7 @@ void GenericConstraintSolver::cleanup()
     sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::cleanup();
 }
 
-bool GenericConstraintSolver::prepareStates(const core::ConstraintParams *cParams, MultiVecId /*res1*/, MultiVecId /*res2*/)
+bool GenericConstraintSolver::doPrepareStates(const core::ConstraintParams *cParams, MultiVecId /*res1*/, MultiVecId /*res2*/)
 {
     last_cp = current_cp;
 
@@ -175,7 +175,7 @@ bool GenericConstraintSolver::prepareStates(const core::ConstraintParams *cParam
     return true;
 }
 
-bool GenericConstraintSolver::buildSystem(const core::ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
+bool GenericConstraintSolver::doBuildSystem(const core::ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
 {
     SOFA_UNUSED(res1);
     SOFA_UNUSED(res2);
@@ -206,7 +206,7 @@ bool GenericConstraintSolver::buildSystem(const core::ConstraintParams *cParams,
 }
 
 
-void GenericConstraintSolver::rebuildSystem(const SReal massFactor, const SReal forceFactor)
+void GenericConstraintSolver::doRebuildSystem(const SReal massFactor, const SReal forceFactor)
 {
     for (const auto& cc : l_constraintCorrections)
     {
@@ -253,7 +253,7 @@ void printLCP(std::ostream& file, SReal *q, SReal **M, SReal *f, int dim, bool p
     file << "      ];" << msgendl << msgendl;
 }
 
-bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
+bool GenericConstraintSolver::doSolveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
 {
     current_cp->tolerance = d_tolerance.getValue();
     current_cp->maxIterations = d_maxIt.getValue();
@@ -299,7 +299,7 @@ bool GenericConstraintSolver::solveSystem(const core::ConstraintParams * /*cPara
     return true;
 }
 
-void GenericConstraintSolver::computeResidual(const core::ExecParams* eparam)
+void GenericConstraintSolver::doComputeResidual(const core::ExecParams* eparam)
 {
     for (const auto& cc : l_constraintCorrections)
     {
@@ -378,7 +378,7 @@ void GenericConstraintSolver::storeConstraintLambdas(const core::ConstraintParam
 }
 
 
-bool GenericConstraintSolver::applyCorrection(const core::ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
+bool GenericConstraintSolver::doApplyCorrection(const core::ConstraintParams *cParams, MultiVecId res1, MultiVecId res2)
 {
     computeAndApplyMotionCorrection(cParams, res1, res2);
     storeConstraintLambdas(cParams);

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/GenericConstraintSolver.h

@@ -50,12 +50,13 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API GenericConstraintSolver :
 
     void cleanup() override;
 
-    bool prepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    bool buildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    void rebuildSystem(const SReal massFactor, const SReal forceFactor) override;
-    bool solveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    bool applyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    void computeResidual(const core::ExecParams* /*params*/) override;
+    bool doPrepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doBuildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    void doRebuildSystem(SReal massFactor, SReal forceFactor) override;
+    bool doSolveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doApplyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    void doComputeResidual(const core::ExecParams* /*params*/) override;
+
     ConstraintProblem* getConstraintProblem() override;
     void lockConstraintProblem(sofa::core::objectmodel::BaseComponent* from, ConstraintProblem* p1, ConstraintProblem* p2 = nullptr) override;
 

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.cpp

@@ -85,7 +85,7 @@ void LCPConstraintProblem::solveTimed(SReal tolerance, int maxIt, SReal timeout)
     helper::nlcp_gaussseidelTimed(dimension, getDfree(), getW(), getF(), mu, tolerance, maxIt, true, timeout);
 }
 
-bool LCPConstraintSolver::prepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
+bool LCPConstraintSolver::doPrepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
 {
     last_cp = current_cp;
     MechanicalVOpVisitor(core::execparams::defaultInstance(), (core::VecId)core::vec_id::write_access::dx).setMapped(true).execute( getContext()); //dX=0
@@ -115,7 +115,7 @@ void LCPConstraintSolver::addRegularization(linearalgebra::BaseMatrix& W)
     }
 }
 
-bool LCPConstraintSolver::buildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2)
+bool LCPConstraintSolver::doBuildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2)
 {
     SOFA_UNUSED(res1);
     SOFA_UNUSED(res2);
@@ -157,7 +157,7 @@ void LCPConstraintSolver::buildSystem()
 
 }
 
-bool LCPConstraintSolver::solveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
+bool LCPConstraintSolver::doSolveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
 {
     const auto _mu = d_mu.getValue();
 
@@ -243,7 +243,7 @@ bool LCPConstraintSolver::solveSystem(const core::ConstraintParams * /*cParams*/
     return true;
 }
 
-bool LCPConstraintSolver::applyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
+bool LCPConstraintSolver::doApplyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId /*res1*/, MultiVecId /*res2*/)
 {
     if (d_initial_guess.getValue())
     {

Sofa/Component/Constraint/Lagrangian/Solver/src/sofa/component/constraint/lagrangian/solver/LCPConstraintSolver.h

@@ -65,10 +65,10 @@ class SOFA_COMPONENT_CONSTRAINT_LAGRANGIAN_SOLVER_API LCPConstraintSolver : publ
     ~LCPConstraintSolver() override;
 public:
 
-    bool prepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    bool buildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    bool solveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
-    bool applyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doPrepareStates(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doBuildSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doSolveSystem(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
+    bool doApplyCorrection(const core::ConstraintParams * /*cParams*/, MultiVecId res1, MultiVecId res2=MultiVecId::null()) override;
 
 
 

Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.cpp

@@ -31,7 +31,7 @@ namespace sofa::core::behavior
 ConstraintSolver::ConstraintSolver() = default;
 ConstraintSolver::~ConstraintSolver() = default;
 
-void ConstraintSolver::solveConstraint(const ConstraintParams * cParams, MultiVecId res1, MultiVecId res2)
+void ConstraintSolver::doSolveConstraint(const ConstraintParams * cParams, MultiVecId res1, MultiVecId res2)
 {
     SCOPED_TIMER("SolveConstraint");
     prepareStatesTask(cParams, res1, res2) &&

Sofa/framework/Core/src/sofa/core/behavior/ConstraintSolver.h

@@ -48,7 +48,17 @@ class SOFA_CORE_API ConstraintSolver : public virtual objectmodel::BaseComponent
     ConstraintSolver();
 
     ~ConstraintSolver() override;
-
+    virtual void doSolveConstraint(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null());
+    virtual bool doPrepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) = 0;
+    virtual bool doBuildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) = 0;
+    virtual void doRebuildSystem(SReal /*massFactor*/, SReal /*forceFactor*/) {};
+    virtual bool doSolveSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) = 0;
+    virtual bool doApplyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) = 0;
+    virtual void doComputeResidual(const core::ExecParams* /*cParams*/)
+    {
+        dmsg_error() << "ComputeResidual is not implemented in " << this->getName() ;
+    }
+    virtual void doRemoveConstraintCorrection(BaseConstraintCorrection *s) = 0;
 private:
     ConstraintSolver(const ConstraintSolver& n) = delete;
     ConstraintSolver& operator=(const ConstraintSolver& n) = delete;
@@ -58,42 +68,124 @@ class SOFA_CORE_API ConstraintSolver : public virtual objectmodel::BaseComponent
     /**
      * Launch the sequence of operations in order to solve the constraints
      */
-    virtual void solveConstraint(const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null());
+    /**
+     * !!! WARNING since v25.12 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doSolveConstraint" internally,
+     * which is the method to override from now on.
+     *
+    **/
+    virtual void solveConstraint(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doSolveConstraint(cParams, res1, res2);
+    }
 
     /**
      * Do the precomputation: compute free state, or propagate the states to the mapped mechanical states, where the constraint can be expressed
      */
-    virtual bool prepareStates(const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0;
+    /**
+     * !!! WARNING since v25.12 !!!
+     *
+     * The template method pattern has been applied to this part of the API.
+     * This method calls the newly introduced method "doPrepareStates" internally,
+     * which is the method to override from now on.
+     *
+    **/
+    virtual bool prepareStates(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        return doPrepareStates(cParams,res1,res2);
+    }
 
     /**
      * Create the system corresponding to the constraints
      */
-    virtual bool buildSystem(const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0;
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doBuildSystem" internally,
+        * which is the method to override from now on.
+        *
+    **/
+    virtual bool buildSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        return doBuildSystem(cParams, res1, res2);
+    }
 
     /**
      * Rebuild the system using a mass and force factor.
      * Experimental API used to investigate convergence issues.
      */
-    SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() virtual void rebuildSystem(SReal /*massfactor*/, SReal /*forceFactor*/){}
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doRebuildSystem" internally,
+        * which is the method to override from now on.
+        *
+    **/
+    SOFA_ATTRIBUTE_DEPRECATED__REBUILDSYSTEM() virtual void rebuildSystem(SReal massFactor, SReal forceFactor) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doRebuildSystem(massFactor, forceFactor);
+    }
+
 
     /**
      * Use the system previously built and solve it with the appropriate algorithm
      */
-    virtual bool solveSystem(const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0;
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doSolveSystem" internally,
+        * which is the method to override from now on.
+        *
+    **/
+    virtual bool solveSystem(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        return doSolveSystem(cParams, res1, res2);
+    }
 
     /**
      * Correct the Mechanical State with the solution found
      */
-    virtual bool applyCorrection(const ConstraintParams *, MultiVecId res1, MultiVecId res2=MultiVecId::null())=0;
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doApplyCorrection" internally,
+        * which is the method to override from now on.
+        *
+    **/
+    virtual bool applyCorrection(const ConstraintParams *cParams, MultiVecId res1, MultiVecId res2=MultiVecId::null()) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        return doApplyCorrection(cParams, res1, res2);
+    }
 
 
     /// Compute the residual in the newton iterations due to the constraints forces
     /// i.e. compute Vecid::force() += J^t lambda
     /// the result is accumulated in Vecid::force()
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doCompureResidual" internally,
+        * which is the method to override from now on.
+        *
+    **/
     SOFA_ATTRIBUTE_DEPRECATED__COMPUTERESIDUAL()
-    virtual void computeResidual(const core::ExecParams* /*params*/)
+    virtual void computeResidual(const core::ExecParams* cParams) final
     {
-        dmsg_error() << "ComputeResidual is not implemented in " << this->getName() ;
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doComputeResidual(cParams);
     }
 
     /// @name Resolution DOFs vectors API
@@ -112,7 +204,19 @@ class SOFA_CORE_API ConstraintSolver : public virtual objectmodel::BaseComponent
     /// Remove reference to ConstraintCorrection
     ///
     /// @param c is the ConstraintCorrection
-    virtual void removeConstraintCorrection(BaseConstraintCorrection *s) = 0;
+    /**
+        * !!! WARNING since v25.12 !!!
+        *
+        * The template method pattern has been applied to this part of the API.
+        * This method calls the newly introduced method "doRemoveConstraintCorrection" internally,
+        * which is the method to override from now on.
+        *
+    **/
+    virtual void removeConstraintCorrection(BaseConstraintCorrection *s) final
+    {
+        //TODO (SPRINT SED 2025): Component state mechanism
+        doRemoveConstraintCorrection(s);
+    }
 
     bool insertInNode( objectmodel::BaseNode* node ) override;
     bool removeInNode( objectmodel::BaseNode* node ) override;