Apply new registration mechanism

CMakeLists.txt

@@ -118,6 +118,7 @@ endif()
 
 # COMMUNICATION CONTROLLER
 if(SOFTROBOTS_COMMUNICATIONCONTROLLER)
+    set(SOFTROBOTS_USES_COMMUNICATIONCONTROLLER ON)
     list(APPEND HEADER_FILES
         ${SOFTROBOTS_SOURCE_DIR}/component/controller/CommunicationController.h
         ${SOFTROBOTS_SOURCE_DIR}/component/controller/CommunicationController.inl
@@ -129,6 +130,7 @@ endif()
 
 # GAMETRAK CONTROLLER
 if(SOFTROBOTS_GAMETRAKCONTROLLER)
+    set(SOFTROBOTS_USES_GAMETRAKCONTROLLER ON)
     list(APPEND HEADER_FILES
         ${SOFTROBOTS_SOURCE_DIR}/component/controller/GameTrakController.h
 
@@ -158,6 +160,7 @@ endif()
 
 # ROBOTINO CONTROLLER
 if(SOFTROBOTS_ROBOTINOCONTROLLER)
+    set(SOFTROBOTS_USES_ROBOTINOCONTROLLER ON)
     list(APPEND HEADER_FILES
         ${SOFTROBOTS_SOURCE_DIR}/component/controller/DataControllerRobot.h
         )
@@ -168,6 +171,7 @@ endif()
 
 # CAMERA
 if (SOFTROBOTS_WITH_CAMERA)
+  set(SOFTROBOTS_USES_WITH_CAMERA ON)
   list(APPEND HEADER_FILES
     ${SOFTROBOTS_SOURCE_DIR}/component/camera/PointCloudProcessing.h
     ${SOFTROBOTS_SOURCE_DIR}/component/camera/PointCloudStreaming.h  
@@ -180,6 +184,7 @@ endif(SOFTROBOTS_WITH_CAMERA)
 
 # INTERACTIVECONTROL
 if (SOFTROBOTS_INTERACTIVECONTROL)
+    set(SOFTROBOTS_USES_INTERACTIVECONTROL ON)
     find_package(Qt5 REQUIRED COMPONENTS Network)
     if(WIN32)
          sofa_copy_libraries(TARGETS Qt5::Network)

src/SoftRobots/component/camera/PointCloudProcessing.cpp

@@ -560,8 +560,10 @@ void PointCloudProcessing::handleEvent(sofa::core::objectmodel::Event *event)
 
 using namespace sofa::defaulttype;
 
-static int PointCloudProcessingClass = sofa::core::RegisterObject("Exposing a RealSense RGBD camera in the Sofa Scene")
-        .add<PointCloudProcessing>();
-
+void registerPointCloudProcessing(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Exposing a RealSense RGBD camera in the Sofa Scene")
+    .add<  PointCloudProcessing>());
+}
 
 } // namespace

src/SoftRobots/component/constraint/CableConstraint.cpp

@@ -109,11 +109,14 @@ void CableForceConstraintResolution::resolution(int line, SReal** w, SReal* d, S
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-int CableConstraintClass = RegisterObject("Simulate a cable.")
-.add< CableConstraint<Vec3Types> >(true)
-.add< CableConstraint<Vec2Types> >()
+void registerCableConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(ObjectRegistrationData("Simulate a cable.")
+    .add< CableConstraint<Vec3Types> >(true)
+    .add< CableConstraint<Vec2Types> >());
+}
+
 
-;
 template class SOFA_SOFTROBOTS_API CableConstraint<Vec3Types>;
 template class SOFA_SOFTROBOTS_API CableConstraint<Vec2Types>;
 

src/SoftRobots/component/constraint/JointConstraint.cpp

@@ -107,9 +107,11 @@ void JointForceConstraintResolution::resolution(int line, double** w, double* d,
 
 
 ////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-int JointConstraintClass = RegisterObject("Lagrange multiplier approach to apply a force/displacement on a Joint (Vec1)")
-.add< JointConstraint<Vec1Types> >(true)
-;
+void registerJointConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(ObjectRegistrationData("Lagrange multiplier approach to apply a force/displacement on a Joint (Vec1)")
+    .add< JointConstraint<Vec1Types> >(true));
+}
 ////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 template class SOFA_SOFTROBOTS_API JointConstraint<Vec1Types>;

src/SoftRobots/component/constraint/PartialRigidificationConstraint.cpp

@@ -40,10 +40,12 @@ PartialRigidificationConstraintResolution6Dof::PartialRigidificationConstraintRe
 {
 }
 
-int PartialRigidificationConstraintClass = sofa::core::RegisterObject("PartialRigidificationConstraint")
-        .add< PartialRigidificationConstraint<Rigid3Types> >(true)
+void registerPartialRigidificationConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("PartialRigidificationConstraint")
+    .add< PartialRigidificationConstraint<Rigid3Types> >(true));
+}
 
-        ;
 template class SOFA_SOFTROBOTS_API PartialRigidificationConstraint<Rigid3Types>;
 
 

src/SoftRobots/component/constraint/PositionConstraint.cpp

@@ -108,12 +108,14 @@ void PositionForceConstraintResolution::resolution(int line, double** w, double*
 
 
 ////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
-int PositionConstraintClass = RegisterObject("Simulate a Position.")
-.add< PositionConstraint<Vec3Types> >(true)
-.add< PositionConstraint<Vec2Types> >()
-.add< PositionConstraint<Rigid3Types> >()
+void registerPositionConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Simulate a Position.")
+    .add< PositionConstraint<Vec3Types> >(true)
+    .add< PositionConstraint<Vec2Types> >()
+    .add< PositionConstraint<Rigid3Types> >());
+}
 
-;
 ////////////////////////////////////////////////////////////////////////////////////////////////////////
 
 template class SOFA_SOFTROBOTS_API PositionConstraint<Vec3Types>;

src/SoftRobots/component/constraint/SurfacePressureConstraint.cpp

@@ -116,11 +116,13 @@ void VolumeGrowthConstraintResolution::resolution(int line, SReal** w, SReal* d,
 
 
 ///////////////////////////////////////// FACTORY //////////////////////////////////////////////////
-int SurfacePressureConstraintClass = sofa::core::RegisterObject("This component constrains a model by applying "
-                                                          "pressure on surfaces (for exemple cavities)")
-.add< SurfacePressureConstraint<Vec3Types> >(true)//Set Vec3d to default template
+void registerSurfacePressureConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This component constrains a model by applying "
+                                                          "pressure on surfaces (for example cavities)")
+    .add< SurfacePressureConstraint<Vec3Types> >(true));
+}
 
-;
 /////////////////////////////////////////////////////////////////////////////////////////////////////
 template class SOFA_SOFTROBOTS_API SurfacePressureConstraint<Vec3Types>;
 

src/SoftRobots/component/constraint/UnilateralPlaneConstraint.cpp

@@ -62,15 +62,18 @@ void UnilateralPlaneConstraintResolution::resolution(int line, SReal**w, SReal*d
 
 ////////////////////////////////////////////    FACTORY    //////////////////////////////////////////////
 using namespace sofa::helper;
-int UnilateralPlaneConstraintClass = sofa::core::RegisterObject("This component is a simple point plane collision model. \n"
+
+void registerUnilateralPlaneConstraint(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This component is a simple point plane collision model. \n"
                                                                 "By providing 4 points to the component, the first point will \n"
                                                                 "be constrained to stay in one side of the plane described \n"
                                                                 "by the three other points (in the direction of the plane normal). \n"
                                                                 "All the four points, the triangle and the normal can be \n"
                                                                 "seen by allowing the 'Collision Model' in the 'View' tab.")
-                .add< UnilateralPlaneConstraint<Vec3Types> >(true)
-        
-        ;
+    .add< UnilateralPlaneConstraint<Vec3Types> >(true));
+}
+
 template class SOFA_SOFTROBOTS_API UnilateralPlaneConstraint<sofa::defaulttype::Vec3Types>;
 
 

src/SoftRobots/component/controller/AnimationEditor.cpp

@@ -116,8 +116,9 @@ void AnimationEditor<Rigid3Types>::drawTrajectory(const VisualParams* vparams)
 
 
 ////////////////////////////////////////////    FACTORY    ////////////////////////////////////////////
-using sofa::core::RegisterObject ;
-int AnimationEditorClass = RegisterObject("Build an animation from key points motion: \n"
+void registerAnimationEditor(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Build an animation from key points motion: \n"
                                    "ctrl+a: add keyframe \n"
                                    "ctrl+d: delete keyframe \n"
                                    "ctrl+c: copy keyframe \n"
@@ -127,12 +128,9 @@ int AnimationEditorClass = RegisterObject("Build an animation from key points mo
                                    "ctrl+m: play/pause animation \n"
                                    "ctrl+(left/right)arrow: move the cursor along the timeline \n"
                                    "ctrl+(pgDn/pgUp): move the cursor to the next/previous keyframe")
-///////////////////////////////////////////////////////////////////////////////////////////////////////
-
-        .add< AnimationEditor<Vec3Types> >(true)
-        .add< AnimationEditor<Rigid3Types> >()
-
-        ;
+    .add< AnimationEditor<Vec3Types> >(true)
+    .add< AnimationEditor<Rigid3Types> >());
+}
 
 template class SOFA_SOFTROBOTS_API AnimationEditor<Vec3Types>;
 template class SOFA_SOFTROBOTS_API AnimationEditor<Rigid3Types>;

src/SoftRobots/component/controller/CommunicationController.cpp

@@ -175,24 +175,24 @@ std::string CommunicationController<vector<Rigid3fTypes::Coord>>::GetCustomTempl
 
 
 ////////////////////////////////////////////    FACTORY    ////////////////////////////////////////////
-using sofa::core::RegisterObject ;
 using sofa::defaulttype::Rigid3Types;
 using sofa::defaulttype::Vec3Types;
 using sofa::defaulttype::Vec1Types;
 
-int CommunicationControllerClass = RegisterObject("This component is used to build a communication between two simulations")
-
-.add< CommunicationController<double> >(true)
-.add< CommunicationController<vector<Vec3Types::Coord>> >()
-.add< CommunicationController<vector<Vec1Types::Coord>> >()
-.add< CommunicationController<vector<Rigid3Types::Coord>> >()
-
-.add< CommunicationController<int> >()
-.add< CommunicationController<unsigned int> >()
-.add< CommunicationController<vector<Vec<2,int>>> >()
-.add< CommunicationController<vector<Vec<1,unsigned int>>> >()
-.add< CommunicationController<vector<Vec<2,unsigned int>>> >()
-;
+void registerCommunicationController(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This component is used to build a communication between two simulations")
+    .add< CommunicationController<double> >(true)
+    .add< CommunicationController<vector<Vec3Types::Coord>> >()
+    .add< CommunicationController<vector<Vec1Types::Coord>> >()
+    .add< CommunicationController<vector<Rigid3Types::Coord>> >()
+
+    .add< CommunicationController<int> >()
+    .add< CommunicationController<unsigned int> >()
+    .add< CommunicationController<vector<Vec<2,int>>> >()
+    .add< CommunicationController<vector<Vec<1,unsigned int>>> >()
+    .add< CommunicationController<vector<Vec<2,unsigned int>>> >());
+}
 
 template class CommunicationController<double>;
 template class CommunicationController<vector<Vec3Types::Coord>>;

src/SoftRobots/component/controller/DataControllerRobot.cpp

@@ -48,9 +48,11 @@ using namespace sofa::defaulttype;
 SOFA_DECL_CLASS(DataControllerRobot)
 
 // Register in the Factory
-int DataControllerRobotClass = core::RegisterObject(" ")
-.add< DataControllerRobot >()
-;
+void registerDataControllerRobot(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData(" ")
+    .add<  DataControllerRobot>());
+}
 
 
 DataControllerRobot::DataControllerRobot():

src/SoftRobots/component/controller/DataControllerRobot2.cpp

@@ -48,9 +48,11 @@ using namespace sofa::defaulttype;
 SOFA_DECL_CLASS(DataControllerRobot)
 
 // Register in the Factory
-int DataControllerRobotClass = core::RegisterObject(" ")
-.add< DataControllerRobot >()
-;
+void registerDataControllerRobot(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData(" ")
+    .add<  DataControllerRobot>());
+}
 
 
 DataControllerRobot::DataControllerRobot():

src/SoftRobots/component/controller/DataVariationLimiter.cpp

@@ -36,17 +36,18 @@ namespace softrobots::controller
 
 using namespace sofa::defaulttype;
 using namespace sofa::type;
-using sofa::core::RegisterObject;
 
-int DataVariationLimiterClass = RegisterObject("This component interpolates between two consecutive inputs when a jump is detected.")
-        .add< DataVariationLimiter<Vec3Types::Coord> >(true)
-        .add< DataVariationLimiter<Vec2Types::Coord> >()
-        .add< DataVariationLimiter<Vec1Types::Coord> >()
-
-        .add< DataVariationLimiter<sofa::type::Vec1i> >()
-        .add< DataVariationLimiter<sofa::type::Vec2i> >()
-        .add< DataVariationLimiter<sofa::type::Vec3i> >()
-        ;
+void registerDataVariationLimiter(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This component interpolates between two consecutive inputs when a jump is detected.")
+    .add< DataVariationLimiter<Vec3Types::Coord> >(true)
+    .add< DataVariationLimiter<Vec2Types::Coord> >()
+    .add< DataVariationLimiter<Vec1Types::Coord> >()
+
+    .add< DataVariationLimiter<sofa::type::Vec1i> >()
+    .add< DataVariationLimiter<sofa::type::Vec2i> >()
+    .add< DataVariationLimiter<sofa::type::Vec3i> >());
+}
 
 template class SOFA_SOFTROBOTS_API DataVariationLimiter<Vec3Types::Coord>;
 template class SOFA_SOFTROBOTS_API DataVariationLimiter<Vec2Types::Coord>;

src/SoftRobots/component/controller/GameTrakController.cpp

@@ -44,9 +44,11 @@ using sofa::core::RegisterObject ;
 
 SOFA_DECL_CLASS(GameTrakController)
 
-int GameTrakControllerClass = RegisterObject("Interface for GameTrak device.")
-.add< GameTrakController >()
-;
+void registerGameTrakController(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Interface for GameTrak device.")
+    .add<  GameTrakController>());
+}
 ///////////////////////////////////////////////////////////////////////////////////////////////////////
 
 using namespace gametrak ;

src/SoftRobots/component/controller/InteractiveControl.cpp

@@ -37,9 +37,11 @@ namespace softrobots::controller
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
 
-
-int InteractiveControlClass = sofa::core::RegisterObject("InteractiveControl (Controls external motors via network)")
-        .add< InteractiveControl >();
+void registerInteractiveControl(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("InteractiveControl (Controls external motors via network)")
+    .add<  InteractiveControl>());
+}
 
 InteractiveControl::InteractiveControl()
     : d_motorIndex(initData(&d_motorIndex, (unsigned int)0, "motorIndex", "index of controlled motor (0 to 255 max)"))

src/SoftRobots/component/controller/SerialPortBridgeGeneric.cpp

@@ -45,10 +45,12 @@ using sofa::type::Vec;
 using sofa::helper::WriteAccessor;
 using sofa::core::objectmodel::ComponentState;
 
-int SerialPortBridgeGenericClass = sofa::core::RegisterObject("Send data (ex: force, displacement, pressure…) through the usb port. \n"
+void registerSerialPortBridgeGeneric(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("Send data (ex: force, displacement, pressure…) through the usb port. \n"
                                                               "Usually used to send data to an Arduino card to control the real robot.")
-        .add< SerialPortBridgeGeneric >()
-        ;
+    .add< SerialPortBridgeGeneric >());
+}
 
 SerialPortBridgeGeneric::SerialPortBridgeGeneric()
     : d_port(initData(&d_port, "port", "Serial port name"))

src/SoftRobots/component/engine/CenterOfMass.cpp

@@ -33,12 +33,13 @@ namespace softrobots::engine
 
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
-using sofa::core::RegisterObject;
 
-int CenterOfMassClass = RegisterObject("This class computes the center of mass of the object in its context.")
-        .add< CenterOfMass<Vec3Types> >(true)
+void registerCenterOfMass(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This class computes the center of mass of the object in its context.")
+    .add<  CenterOfMass<Vec3Types> >(true));
+}
 
-        ;
 
 template class SOFA_SOFTROBOTS_API CenterOfMass<Vec3Types>;
 

src/SoftRobots/component/engine/VolumeFromTetrahedrons.cpp

@@ -33,12 +33,12 @@ namespace softrobots::engine
 
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
-using sofa::core::RegisterObject;
 
-int VolumeFromTetrahedronsClass = RegisterObject("This class computes the volume of a given volumetric mesh.")
-        .add< VolumeFromTetrahedrons<Vec3Types> >(true)
-
-        ;
+void registerVolumeFromTetrahedrons(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This class computes the volume of a given volumetric mesh.")
+    .add<  VolumeFromTetrahedrons<Vec3Types> >(true));
+}
 
 template class SOFA_SOFTROBOTS_API VolumeFromTetrahedrons<Vec3Types>;
 

src/SoftRobots/component/engine/VolumeFromTriangles.cpp

@@ -33,12 +33,12 @@ namespace softrobots::engine
 
 using namespace sofa::defaulttype;
 using namespace sofa::helper;
-using sofa::core::RegisterObject;
 
-int VolumeFromTrianglesClass = RegisterObject("This class computes the volume of a given closed surfacic mesh.")
-        .add< VolumeFromTriangles<Vec3Types> >(true)
-
-        ;
+void registerVolumeFromTriangles(sofa::core::ObjectFactory* factory)
+{
+    factory->registerObjects(sofa::core::ObjectRegistrationData("This class computes the volume of a given closed surfacic mesh.")
+    .add<  VolumeFromTriangles<Vec3Types> >(true));
+}
 
 template class SOFA_SOFTROBOTS_API VolumeFromTriangles<Vec3Types>;