[GUI.Component] ConstraintAttachBodyPerformer: Add RigidType support

[fredroy]

adding instantiation with RigidType + removal of "hard" usage of VecTypes.

In my case, it was to support grabbing a beam (BeamAdapter) with the mouse and constraints.

Screen.Recording.2024-07-01.at.17.08.16.mov

Reminder: BilateralConstraint needs a GenericConstraintSolver (+FreeMotionAL), LCPConstraintSolver is not usable

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[alxbilger]

The fact that a contact is added between two null vectors is very confusing. It appears that it was not the case initially: b664374. It worth having a discussion on this during the next meeting

[bakpaul]

Looking at the code, the only parameters of this function used are the two coords (point1 and point2) and the two indices (0 and index) the rest are just unused and thus not necessary (for the templated method and the rigid spec).

[bakpaul]

Looking at the code, the only parameters of this function used are the two coords (point1 and point2) and the two indices (0 and index) the rest are just unused and thus not necessary (for the templated method and the rigid spec).

[fredroy]

Dear @bakpaul,
I tried to set the option d_keepOrientDiff but, after doing some shenaningans because the Data is protected, setting this Data to true make it crashes when trying to apply the Constraint. 🫨
Note that this may be related on the fact that the Beam is modeled with BeamAdapter...

So I let it to false for the moment 😅

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Here it the backtrace (on mac) if the option is to "true":

Thread 0 Crashed::  Dispatch queue: com.apple.main-thread
0   libSofa.Component.Constraint.Lagrangian.Model.24.12.99.dylib	       0x10693b764 void sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraintSpecialization<sofa::component::constraint::lagrangian::model::RigidImpl>::getConstraintViolation<sofa::defaulttype::StdRigidTypes<3u, double>>(sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>&, sofa::core::ConstraintParams const*, sofa::linearalgebra::BaseVector*, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>::DataVecCoord const&, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>::DataVecCoord const&, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>::DataVecDeriv const&, sofa::component::constraint::lagrangian::model::BilateralLagrangianConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>::DataVecDeriv const&) + 732
1   libSofa.Core.24.12.99.dylib   	       0x10a09ee30 sofa::core::behavior::PairInteractionConstraint<sofa::defaulttype::StdRigidTypes<3u, double>>::getConstraintViolation(sofa::core::ConstraintParams const*, sofa::linearalgebra::BaseVector*) + 704
2   libSofa.Component.Constraint.Lagrangian.Solver.24.12.99.dylib	       0x10582a334 sofa::component::constraint::lagrangian::solver::MechanicalGetConstraintViolationVisitor::fwdConstraintSet(sofa::simulation::Node*, sofa::core::behavior::BaseConstraintSet*) + 136
3   libSofa.Simulation.Core.24.12.99.dylib	       0x1074e6d44 sofa::simulation::Visitor::Result sofa::simulation::Visitor::for_each<sofa::simulation::BaseMechanicalVisitor, sofa::simulation::Visitor::VisitorContext, sofa::simulation::NodeSequence<sofa::core::behavior::BaseConstraintSet, false>, sofa::core::behavior::BaseConstraintSet>(sofa::simulation::BaseMechanicalVisitor*, sofa::simulation::Visitor::VisitorContext*, sofa::simulation::NodeSequence<sofa::core::behavior::BaseConstraintSet, false> const&, sofa::simulation::Visitor::Result (sofa::simulation::BaseMechanicalVisitor::*)(sofa::simulation::Visitor::VisitorContext*, sofa::core::behavior::BaseConstraintSet*), std::__1::basic_string<char, std::__1::char_traits<char>, std::__1::allocator<char>> const&) + 432
4   libSofa.Simulation.Core.24.12.99.dylib	       0x1074e6318 sofa::simulation::BaseMechanicalVisitor::processNodeTopDown(sofa::simulation::Node*, sofa::simulation::Visitor::VisitorContext*) + 1088
5   libSofa.Simulation.Core.24.12.99.dylib	       0x1074e7848 sofa::simulation::BaseMechanicalVisitor::processNodeTopDown(sofa::simulation::Node*) + 56
6   libSofa.Simulation.Graph.24.12.99.dylib	       0x104eec8b8 sofa::simulation::graph::DAGNode::executeVisitorTopDown(sofa::simulation::Visitor*, std::__1::list<sofa::simulation::graph::DAGNode*, std::__1::allocator<sofa::simulation::graph::DAGNode*>>&, std::__1::map<sofa::simulation::graph::DAGNode*, sofa::simulation::graph::DAGNode::StatusStruct, std::__1::less<sofa::simulation::graph::DAGNode*>, std::__1::allocator<std::__1::pair<sofa::simulation::graph::DAGNode* const, sofa::simulation::graph::DAGNode::StatusStruct>>>&, sofa::simulation::graph::DAGNode*) + 324
7   libSofa.Simulation.Graph.24.12.99.dylib	       0x104eecac0 sofa::simulation::graph::DAGNode::executeVisitorTopDown(sofa::simulation::Visitor*, std::__1::list<sofa::simulation::graph::DAGNode*, std::__1::allocator<sofa::simulation::graph::DAGNode*>>&, std::__1::map<sofa::simulation::graph::DAGNode*, sofa::simulation::graph::DAGNode::StatusStruct, std::__1::less<sofa::simulation::graph::DAGNode*>, std::__1::allocator<std::__1::pair<sofa::simulation::graph::DAGNode* const, sofa::simulation::graph::DAGNode::StatusStruct>>>&, sofa::simulation::graph::DAGNode*) + 844
8   libSofa.Simulation.Graph.24.12.99.dylib	       0x104eec028 sofa::simulation::graph::DAGNode::doExecuteVisitor(sofa::simulation::Visitor*, bool) + 312
9   libSofa.Component.Constraint.Lagrangian.Solver.24.12.99.dylib	       0x1057f3210 sofa::component::constraint::lagrangian::solver::ConstraintSolverImpl::getConstraintViolation(sofa::core::ConstraintParams const*, sofa::linearalgebra::BaseVector*) + 96
...

[bakpaul]

I think this is because you need to call the bwdInit after the init and addContact calls when this parameter is used (by checking quickly the code). It is harmless when the template is Vec3D but it prepares the computation for when you want to keep the orientation -> again this is really a bad API and might require some refactoring.

If you still have the diff locally, could you try this ? I guess the usability of your feature would really gain from this if it was working. But if this doesn't make any change, I am ok with the state of the PR.

Tell me how it goes !

[alxbilger]

[ci-build][with-all-tests]