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[AnimationLoop] Replace endIntegration with resetVec #6440

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[AnimationLoop] Replace endIntegration with resetVec #6440

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8 changes: 4 additions & 4 deletions Sofa/Component/AnimationLoop/src/sofa/component/animationloop/ConstraintAnimationLoop.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,8 +67,7 @@ using sofa::simulation::mechanicalvisitor::MechanicalPropagateOnlyPositionVisito
#include <sofa/simulation/mechanicalvisitor/MechanicalProjectJacobianMatrixVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalProjectJacobianMatrixVisitor;

#include <sofa/simulation/mechanicalvisitor/MechanicalEndIntegrationVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalEndIntegrationVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalResetForceVisitor.h>

#include <sofa/simulation/mechanicalvisitor/MechanicalResetConstraintVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalResetConstraintVisitor;
Expand Down Expand Up @@ -666,8 +665,9 @@ void ConstraintAnimationLoop::step ( const core::ExecParams* params, SReal dt )
<< "<<<<< End display ConstraintAnimationLoop time." ;
}

MechanicalEndIntegrationVisitor endVisitor(params, dt);
node->execute(&endVisitor);
mechanicalvisitor::MechanicalResetForceVisitor resetForceVisitor(params, sofa::core::vec_id::write_access::externalForce);
node->execute(&resetForceVisitor);

node->setTime ( startTime + dt );
node->execute<UpdateSimulationContextVisitor>(params); // propagate time

Expand Down
7 changes: 3 additions & 4 deletions Sofa/Component/AnimationLoop/src/sofa/component/animationloop/FreeMotionAnimationLoop.cpp
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Expand Up @@ -61,8 +61,7 @@ using sofa::simulation::mechanicalvisitor::MechanicalVOpVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalComputeGeometricStiffness.h>
using sofa::simulation::mechanicalvisitor::MechanicalComputeGeometricStiffness;

#include <sofa/simulation/mechanicalvisitor/MechanicalEndIntegrationVisitor.h>
using sofa::simulation::mechanicalvisitor::MechanicalEndIntegrationVisitor;
#include <sofa/simulation/mechanicalvisitor/MechanicalResetForceVisitor.h>

namespace sofa::component::animationloop
{
Expand Down Expand Up @@ -264,8 +263,8 @@ void FreeMotionAnimationLoop::step(const sofa::core::ExecParams* params, SReal d
}
}

MechanicalEndIntegrationVisitor endVisitor(params, dt);
node->execute(&endVisitor);
mechanicalvisitor::MechanicalResetForceVisitor resetForceVisitor(params, sofa::core::vec_id::write_access::externalForce);
node->execute(&resetForceVisitor);

{
SCOPED_TIMER("ProjectAndPropagateXAndV");
Expand Down
6 changes: 3 additions & 3 deletions Sofa/framework/Simulation/Core/src/sofa/simulation/DefaultAnimationLoop.cpp
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Expand Up @@ -48,7 +48,7 @@
#include <sofa/simulation/task/TaskScheduler.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalAccumulateMatrixDeriv.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalBeginIntegrationVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalEndIntegrationVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalResetForceVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalProjectPositionAndVelocityVisitor.h>
#include <sofa/simulation/mechanicalvisitor/MechanicalPropagateOnlyPositionAndVelocityVisitor.h>

Expand Down Expand Up @@ -218,8 +218,8 @@ void DefaultAnimationLoop::endIntegration(const core::ExecParams* params, const
{
{
SCOPED_TIMER("endIntegration");
mechanicalvisitor::MechanicalEndIntegrationVisitor endVisitor(params, dt);
m_node->execute(&endVisitor);
mechanicalvisitor::MechanicalResetForceVisitor resetForceVisitor(params, sofa::core::vec_id::write_access::externalForce);
m_node->execute(&resetForceVisitor);
}

propagateIntegrateEndEvent(params);
Expand Down
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