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[ODESolver] Add plugin autoloading for ODE compat layer #6351

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Merged
hugtalbot merged 5 commits into from
Oct 13, 2026
Merged

[ODESolver] Add plugin autoloading for ODE compat layer #6351

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c0560db
Fix ODE compat layer
bakpaul Oct 6, 2026
981fbbb
Add better compat layer, enabling the loading of new plugins and thei…
bakpaul Oct 6, 2026
03c4c2c
Apply batched suggestions from code review
bakpaul Oct 7, 2026
f605ae5
Chancge info into error when loading fail
bakpaul Oct 7, 2026
3f3bd48
Merge branch 'master' into 26_10_fix_compat_for_oe
hugtalbot Oct 13, 2026
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16 changes: 15 additions & 1 deletion Sofa/Component/ODESolver/Backward/compat/sofa/component/odesolver/backward/init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@

namespace sofa::component::odesolver::backward
{

extern "C" {
SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
Expand All @@ -52,13 +52,27 @@ const char* getModuleVersion()

void registerObjects(sofa::core::ObjectFactory* factory)
{
const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme.Backward);
bool objLoaded = false;

if (isLoaded.second)
{
objLoaded = factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Backward);

if (!objLoaded)
msg_error_once("Sofa.Component.ODESolver.Backward")<<"Registering objects from Sofa.Component.IntegrationScheme.Backward failed.";
}
}

void init()
{
msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme.Backward instead.";
auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme.Backward) ;

if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
msg_info_once("Sofa.Component.ODESolver.Backward")<<"Sofa.Component.IntegrationScheme.Backward has been loaded automatically.";
else
msg_error_once("Sofa.Component.ODESolver.Backward")<<"Tried to load Sofa.Component.IntegrationScheme.Backward automatically but failed.";
}

} // namespace sofa::component::odesolver::backward
4 changes: 3 additions & 1 deletion Sofa/Component/ODESolver/CMakeLists.txt
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Expand Up @@ -16,8 +16,10 @@ set(SOURCE_FILES
${SOFACOMPONENTODESOLVER_SOURCE_DIR}/init.cpp
)

sofa_find_package(Sofa.Component.IntegrationScheme REQUIRED)

add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES})
target_link_libraries(${PROJECT_NAME} PUBLIC ${SOFACOMPONENTODESOLVER_TARGETS})
target_link_libraries(${PROJECT_NAME} PUBLIC ${SOFACOMPONENTODESOLVER_TARGETS} Sofa.Component.IntegrationScheme)

sofa_create_package_with_targets(
PACKAGE_NAME ${PROJECT_NAME}
Expand Down
21 changes: 18 additions & 3 deletions Sofa/Component/ODESolver/Forward/compat/sofa/component/odesolver/forward/init.cpp
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Expand Up @@ -19,15 +19,15 @@
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/component/odesolver/forward/init.h>

#include <sofa/Modules.h>
#include <sofa/component/odesolver/forward/init.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/helper/system/PluginManager.h>
#include <sofa/Modules.h>

namespace sofa::component::odesolver::forward
{

extern "C" {
SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
Expand All @@ -52,12 +52,27 @@ const char* getModuleVersion()

void registerObjects(sofa::core::ObjectFactory* factory)
{
const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme.Forward);
bool objLoaded = false;

if (isLoaded.second)
{
objLoaded = factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Forward);

if (!objLoaded)
msg_error_once("Sofa.Component.ODESolver.Forward")<<"Registering objects from Sofa.Component.IntegrationScheme.Forward failed.";
}
}

void init()
{
msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme.Forward instead.";
auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme.Forward) ;

if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
msg_info_once("Sofa.Component.ODESolver.Forward")<<"Sofa.Component.IntegrationScheme.Forward has been loaded automatically.";
else
msg_error_once("Sofa.Component.ODESolver.Forward")<<"Tried to load Sofa.Component.IntegrationScheme.Forward automatically but failed.";
}

} // namespace sofa::component::odesolver::forward
1 change: 1 addition & 0 deletions Sofa/Component/ODESolver/Sofa.Component.ODESolverConfig.cmake.in
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Expand Up @@ -21,6 +21,7 @@ foreach(target ${SOFACOMPONENTODESOLVER_SOURCE_DIR})
endforeach()

sofa_find_package(Sofa.Simulation.Core QUIET REQUIRED)
sofa_find_package(Sofa.Component.IntegrationScheme QUIET REQUIRED)

if(NOT TARGET @PROJECT_NAME@)
include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
Expand Down
21 changes: 19 additions & 2 deletions Sofa/Component/ODESolver/compat/sofa/component/odesolver/init.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@

namespace sofa::component::odesolver
{

extern "C" {
SOFA_EXPORT_DYNAMIC_LIBRARY void initExternalModule();
SOFA_EXPORT_DYNAMIC_LIBRARY const char* getModuleName();
Expand All @@ -52,12 +52,29 @@ const char* getModuleVersion()

void registerObjects(sofa::core::ObjectFactory* factory)
{
const auto isLoaded = sofa::helper::system::PluginManager::getInstance().isPluginLoaded(Sofa.Component.IntegrationScheme);
bool objLoaded = true;

if (isLoaded.second)
{

objLoaded &= factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Backward);
objLoaded &= factory->registerObjectsFromPlugin(Sofa.Component.IntegrationScheme.Forward);

if (!objLoaded)
msg_error_once("Sofa.Component.ODESolver")<<"Registering objects from Sofa.Component.IntegrationScheme failed.";
}
}

void init()
{
msg_deprecated_once(MODULE_NAME)<<"This plugin and its sub-plugins are empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme instead.";
msg_deprecated_once(MODULE_NAME)<<"This plugin is empty since v26.12 and will be removed in v27.12, load Sofa.Component.IntegrationScheme instead.";
auto status = sofa::helper::system::PluginManager::getInstance().loadPluginByName(Sofa.Component.IntegrationScheme) ;

if (status <= sofa::helper::system::PluginManager::PluginLoadStatus::ALREADY_LOADED)
msg_info_once("Sofa.Component.ODESolver")<<"Sofa.Component.IntegrationScheme has been loaded automatically.";
else
msg_error_once("Sofa.Component.ODESolver")<<"Tried to load Sofa.Component.IntegrationScheme automatically but failed.";
}

} // namespace sofa::component::integrationscheme
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