[SOLVED] Persistent Contact Plugin Compile Fail

[Jason]

Hi Everyone,

I’m trying to compile the persistent contact plugin (Ubuntu 14.04LTS compiling the latest SOFA version in the git repository).

I wonder if I am making a simple mistake.

My compile fails with the following errors:

In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:30:0,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl: In instantiation of ‘void sofa::component::mapping::RigidMapping<TIn, TOut>::updateK(const sofa::core::MechanicalParams*, sofa::core::ConstMultiVecDerivId) [with TIn = sofa::defaulttype::StdRigidTypes<2, float>; TOut = sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, double>, sofa::defaulttype::Vec<2, double>, double>; sofa::core::ConstMultiVecDerivId = sofa::core::TMultiVecId<(sofa::core::VecType)2u, (sofa::core::VecAccess)0u>]’:
/home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:87:1:   required from here
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: error: no matching function for call to ‘crossProductMatrix(sofa::defaulttype::Vec<2, double>&)’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                                                                                      ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: note: candidate is:
In file included from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/helper/Quater.h:29:0,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Quat.h:28,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/SolidTypes.h:34,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseContext.h:33,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseObject.h:29,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/BaseMapping.h:32,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/Mapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.h:29,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note: template<class Real> sofa::defaulttype::Mat<3, 3, real> sofa::defaulttype::crossProductMatrix(const sofa::defaulttype::Vec<3, real1>&)
 inline defaulttype::Mat<3, 3, Real> crossProductMatrix(const defaulttype::Vec<3, Real>& v)
                                     ^
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note:   template argument deduction/substitution failed:
In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:30:0,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: note:   cannot convert ‘((sofa::component::mapping::RigidMapping<sofa::defaulttype::StdRigidTypes<2, float>, sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, double>, sofa::defaulttype::Vec<2, double>, double> >*)this)->sofa::component::mapping::RigidMapping<sofa::defaulttype::StdRigidTypes<2, float>, sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, double>, sofa::defaulttype::Vec<2, double>, double> >::rotatedPoints.sofa::helper::vector<sofa::defaulttype::Vec<2, double>, sofa::helper::CPUMemoryManager<sofa::defaulttype::Vec<2, double> > >::<anonymous>.std::vector<_Tp, _Alloc>::operator[]<sofa::defaulttype::Vec<2, double>, std::allocator<sofa::defaulttype::Vec<2, double> > >(((std::vector<sofa::defaulttype::Vec<2, double>, std::allocator<sofa::defaulttype::Vec<2, double> > >::size_type)pointIdx))’ (type ‘sofa::defaulttype::Vec<2, double>’) to type ‘const sofa::defaulttype::Vec<3, double>&’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                                                                                      ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: error: no matching function for call to ‘crossProductMatrix(const sofa::defaulttype::Vec<2, double>&)’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                   ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: note: candidate is:
In file included from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/helper/Quater.h:29:0,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Quat.h:28,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/SolidTypes.h:34,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseContext.h:33,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseObject.h:29,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/BaseMapping.h:32,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/Mapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.h:29,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note: template<class Real> sofa::defaulttype::Mat<3, 3, real> sofa::defaulttype::crossProductMatrix(const sofa::defaulttype::Vec<3, real1>&)
 inline defaulttype::Mat<3, 3, Real> crossProductMatrix(const defaulttype::Vec<3, Real>& v)
                                     ^
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note:   template argument deduction/substitution failed:
In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:30:0,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: note:   cannot convert ‘(& childForces)->sofa::helper::vector<sofa::defaulttype::Vec<2, double>, sofa::helper::CPUMemoryManager<sofa::defaulttype::Vec<2, double> > >::<anonymous>.std::vector<_Tp, _Alloc>::operator[]<sofa::defaulttype::Vec<2, double>, std::allocator<sofa::defaulttype::Vec<2, double> > >(((std::vector<sofa::defaulttype::Vec<2, double>, std::allocator<sofa::defaulttype::Vec<2, double> > >::size_type)pointIdx))’ (type ‘const sofa::defaulttype::Vec<2, double>’) to type ‘const sofa::defaulttype::Vec<3, double>&’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                   ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl: In instantiation of ‘void sofa::component::mapping::RigidMapping<TIn, TOut>::updateK(const sofa::core::MechanicalParams*, sofa::core::ConstMultiVecDerivId) [with TIn = sofa::defaulttype::StdRigidTypes<2, double>; TOut = sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, float>, sofa::defaulttype::Vec<2, float>, float>; sofa::core::ConstMultiVecDerivId = sofa::core::TMultiVecId<(sofa::core::VecType)2u, (sofa::core::VecAccess)0u>]’:
/home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:87:1:   required from here
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: error: no matching function for call to ‘crossProductMatrix(sofa::defaulttype::Vec<2, float>&)’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                                                                                      ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: note: candidate is:
In file included from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/helper/Quater.h:29:0,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Quat.h:28,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/SolidTypes.h:34,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseContext.h:33,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseObject.h:29,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/BaseMapping.h:32,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/Mapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.h:29,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note: template<class Real> sofa::defaulttype::Mat<3, 3, real> sofa::defaulttype::crossProductMatrix(const sofa::defaulttype::Vec<3, real1>&)
 inline defaulttype::Mat<3, 3, Real> crossProductMatrix(const defaulttype::Vec<3, Real>& v)
                                     ^
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note:   template argument deduction/substitution failed:
In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:30:0,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:150: note:   cannot convert ‘((sofa::component::mapping::RigidMapping<sofa::defaulttype::StdRigidTypes<2, double>, sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, float>, sofa::defaulttype::Vec<2, float>, float> >*)this)->sofa::component::mapping::RigidMapping<sofa::defaulttype::StdRigidTypes<2, double>, sofa::defaulttype::StdVectorTypes<sofa::defaulttype::Vec<2, float>, sofa::defaulttype::Vec<2, float>, float> >::rotatedPoints.sofa::helper::vector<sofa::defaulttype::Vec<2, float>, sofa::helper::CPUMemoryManager<sofa::defaulttype::Vec<2, float> > >::<anonymous>.std::vector<_Tp, _Alloc>::operator[]<sofa::defaulttype::Vec<2, float>, std::allocator<sofa::defaulttype::Vec<2, float> > >(((std::vector<sofa::defaulttype::Vec<2, float>, std::allocator<sofa::defaulttype::Vec<2, float> > >::size_type)pointIdx))’ (type ‘sofa::defaulttype::Vec<2, float>’) to type ‘const sofa::defaulttype::Vec<3, float>&’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                                                                                      ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: error: no matching function for call to ‘crossProductMatrix(const sofa::defaulttype::Vec<2, float>&)’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                   ^
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: note: candidate is:
In file included from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/helper/Quater.h:29:0,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Quat.h:28,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/SolidTypes.h:34,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseContext.h:33,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/objectmodel/BaseObject.h:29,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/BaseMapping.h:32,
                 from /home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/core/Mapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.h:29,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.h:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:28,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note: template<class Real> sofa::defaulttype::Mat<3, 3, real> sofa::defaulttype::crossProductMatrix(const sofa::defaulttype::Vec<3, real1>&)
 inline defaulttype::Mat<3, 3, Real> crossProductMatrix(const defaulttype::Vec<3, Real>& v)
                                     ^
/home/vagabond/Code/SOFA/sofa/framework/sofa/core/../../sofa/defaulttype/Mat.h:1073:37: note:   template argument deduction/substitution failed:
In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.inl:30:0,
                 from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentContactRigidMapping.cpp:26:
/home/vagabond/Code/SOFA/sofa/SofaBase/../modules/SofaRigid/RigidMapping.inl:741:83: note:   cannot convert ‘(& childForces)->sofa::helper::vector<sofa::defaulttype::Vec<2, float>, sofa::helper::CPUMemoryManager<sofa::defaulttype::Vec<2, float> > >::<anonymous>.std::vector<_Tp, _Alloc>::operator[]<sofa::defaulttype::Vec<2, float>, std::allocator<sofa::defaulttype::Vec<2, float> > >(((std::vector<sofa::defaulttype::Vec<2, float>, std::allocator<sofa::defaulttype::Vec<2, float> > >::size_type)pointIdx))’ (type ‘const sofa::defaulttype::Vec<2, float>’) to type ‘const sofa::defaulttype::Vec<3, float>&’
             block += defaulttype::crossProductMatrix<Real>( childForces[pointIdx] ) * defaulttype::crossProductMatrix<Real>( rotatedPoints[pointIdx] );
                                                                                   ^
In file included from /home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentFrictionContact.cpp:25:0:
/home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentFrictionContact.inl: In member function ‘void sofa::component::collision::PersistentFrictionContact<TCollisionModel1, TCollisionModel2>::activateConstraint()’:
/home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentFrictionContact.inl:570:59: error: ‘class sofa::core::collision::DetectionOutput’ has no member named ‘baryCoords’
                 index1 = this->mapThePersistentContact(o->baryCoords[0], index1, posColpoint, true);
                                                           ^
/home/vagabond/Code/SOFA/sofa/applications/plugins/PersistentContact/PersistentFrictionContact.inl:594:59: error: ‘class sofa::core::collision::DetectionOutput’ has no member named ‘baryCoords’
                 index2 = this->mapThePersistentContact(o->baryCoords[1], index2, posColpoint, false);
                                                           ^

Thank you for your kind help.

-J

[Duriez]

Hi !

I think that this code (even if very interesting) has not been maintained. We can do the effort to make this code available again. We have a “coding day” the last friday of each month in my team. I can put it in the program of next week.

Let me know if this code how important this code is for you. We can maybe also involve you to help us.

Best regards,

Christian

[Author]

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