[all] Rename applyJ to applyJacobianVectorProduct

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.h

@@ -71,7 +71,11 @@ class BarycentricMapping : public LinearMapping<TIn, TOut>
     void init() override;
     void reinit() override;
     void apply(const core::MechanicalParams *mparams, Data< typename Out::VecCoord >& out, const Data< typename In::VecCoord >& in) override;
-    void applyJ(const core::MechanicalParams *mparams, Data< typename Out::VecDeriv >& out, const Data< typename In::VecDeriv >& in) override;
+    void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<Out>& tangentOut,
+        const DataVecDeriv_t<In>& tangentIn,
+        const DataVecCoord_t<In>& positionIn) override;
     void applyJT(const core::MechanicalParams *mparams, Data< typename In::VecDeriv >& out, const Data< typename Out::VecDeriv >& in) override;
     void applyJT(const core::ConstraintParams *cparams, Data< typename In::MatrixDeriv >& out, const Data< typename Out::MatrixDeriv >& in) override;
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BarycentricMapping.inl

@@ -303,14 +303,19 @@ void BarycentricMapping<TIn, TOut>::apply(const core::MechanicalParams * mparams
 }
 
 template <class TIn, class TOut>
-void BarycentricMapping<TIn, TOut>::applyJ (const core::MechanicalParams * mparams, Data< typename Out::VecDeriv >& _out, const Data< typename In::VecDeriv >& in)
+void BarycentricMapping<TIn, TOut>::doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<Out>& tangentOut,
+        const DataVecDeriv_t<In>& tangentIn,
+        const DataVecCoord_t<In>& positionIn)
 {
     SOFA_UNUSED(mparams);
+    SOFA_UNUSED(positionIn);
 
     if (d_mapper != nullptr)
     {
-        auto outWriteAccessor = sofa::helper::getWriteAccessor(_out);
-        d_mapper->applyJ(outWriteAccessor.wref(), in.getValue());
+        auto outWriteAccessor = sofa::helper::getWriteAccessor(tangentOut);
+        d_mapper->applyJ(outWriteAccessor.wref(), tangentIn.getValue());
     }
 }
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.h

@@ -99,7 +99,11 @@ class BeamLinearMapping : public LinearMapping<TIn, TOut>
 
     void apply(const core::MechanicalParams *mparams, Data< typename Out::VecCoord >& out, const Data< typename In::VecCoord >& in) override;
 
-    void applyJ(const core::MechanicalParams *mparams, Data< typename Out::VecDeriv >& out, const Data< typename In::VecDeriv >& in) override;
+    void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<Out>& tangentOut,
+        const DataVecDeriv_t<In>& tangentIn,
+        const DataVecCoord_t<In>& positionIn) override;
 
     void applyJT(const core::MechanicalParams *mparams, Data< typename In::VecDeriv >& out, const Data< typename Out::VecDeriv >& in) override;
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/BeamLinearMapping.inl

@@ -134,10 +134,15 @@ void BeamLinearMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparam
 }
 
 template <class TIn, class TOut>
-void BeamLinearMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/, Data< typename Out::VecDeriv >& _out, const Data< typename In::VecDeriv >& _in)
+void BeamLinearMapping<TIn, TOut>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& tangentOut,
+    const DataVecDeriv_t<In>& tangentIn, const DataVecCoord_t<In>& positionIn)
 {
-    helper::WriteAccessor< Data< typename Out::VecDeriv > > out = _out;
-    helper::ReadAccessor< Data< typename In::VecDeriv > > in = _in;
+    SOFA_UNUSED(mparams);
+    SOFA_UNUSED(positionIn);
+
+    helper::WriteAccessor< Data< typename Out::VecDeriv > > out = tangentOut;
+    helper::ReadAccessor< Data< typename In::VecDeriv > > in = tangentIn;
 
     out.resize(points.size());
     for(unsigned int i=0; i<points.size(); i++)

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.h

@@ -78,8 +78,11 @@ class CenterOfMassMapping : public LinearMapping<TIn, TOut>
     void apply( const sofa::core::MechanicalParams* mparams, OutDataVecCoord& out, const InDataVecCoord& in) override;
     //void apply( typename Out::VecCoord& out, const typename In::VecCoord& in );
 
-    void applyJ( const sofa::core::MechanicalParams* mparams, OutDataVecDeriv& out, const InDataVecDeriv& in) override;
-    //void applyJ( typename Out::VecDeriv& out, const typename In::VecDeriv& in );
+    void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<Out>& tangentOut,
+        const DataVecDeriv_t<In>& tangentIn,
+        const DataVecCoord_t<In>& positionIn) override;
 
     void applyJT( const sofa::core::MechanicalParams* mparams, InDataVecDeriv& out, const OutDataVecDeriv& in) override;
     //void applyJT( typename In::VecDeriv& out, const typename Out::VecDeriv& in );

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMapping.inl

@@ -80,14 +80,16 @@ void CenterOfMassMapping<TIn, TOut>::apply( const sofa::core::MechanicalParams*
     outData.endEdit();
 }
 
-
 template <class TIn, class TOut>
-void CenterOfMassMapping<TIn, TOut>::applyJ( const sofa::core::MechanicalParams* mparams, OutDataVecDeriv& outData, const InDataVecDeriv& inData)
+void CenterOfMassMapping<TIn, TOut>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams, DataVecDeriv_t<Out>& tangentOut,
+    const DataVecDeriv_t<In>& tangentIn, const DataVecCoord_t<In>& positionIn)
 {
     SOFA_UNUSED(mparams);
+    SOFA_UNUSED(positionIn);
 
-    OutVecDeriv& childForces = *outData.beginEdit();
-    const InVecDeriv& parentForces = inData.getValue();
+    OutVecDeriv& childForces = *tangentOut.beginEdit();
+    const InVecDeriv& parentForces = tangentIn.getValue();
 
     if(!masses || totalMass==0.0)
     {
@@ -106,10 +108,9 @@ void CenterOfMassMapping<TIn, TOut>::applyJ( const sofa::core::MechanicalParams*
 
     childForces[0] = outF / totalMass;
 
-    outData.endEdit();
+    tangentOut.endEdit();
 }
 
-
 template <class TIn, class TOut>
 void CenterOfMassMapping<TIn, TOut>::applyJT( const sofa::core::MechanicalParams* mparams, InDataVecDeriv& outData, const OutDataVecDeriv& inData)
 {

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.h

@@ -84,10 +84,13 @@ class CenterOfMassMulti2Mapping : public LinearMulti2Mapping<TIn1, TIn2, TOut>
         const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos,
         const type::vector<const In1DataVecCoord*>& dataVecIn1Pos ,
         const type::vector<const In2DataVecCoord*>& dataVecIn2Pos) override;
-    void applyJ(
-        const core::MechanicalParams* mparams, const type::vector< OutDataVecDeriv*>& dataVecOutVel,
-        const type::vector<const In1DataVecDeriv*>& dataVecIn1Vel,
-        const type::vector<const In2DataVecDeriv*>& dataVecIn2Vel) override;
+    virtual void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        const type::vector< DataVecDeriv_t<Out>*>& dataVecTangentOut,
+        const type::vector<const DataVecDeriv_t<In1>*>& dataVecTangentIn1,
+        const type::vector<const DataVecDeriv_t<In2>*>& dataVecTangentIn2,
+        const type::vector<const DataVecCoord_t<In1>*>& dataVecPositionIn1,
+        const type::vector<const DataVecCoord_t<In2>*>& dataVecPositionIn2) override;
     void applyJT(
         const core::MechanicalParams* mparams, const type::vector< In1DataVecDeriv*>& dataVecOut1Force,
         const type::vector< In2DataVecDeriv*>& dataVecOut2Force,

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMulti2Mapping.inl

@@ -94,31 +94,34 @@ void CenterOfMassMulti2Mapping< TIn1, TIn2, TOut >::apply(
     for(unsigned int i=0; i<dataVecOutPos.size(); i++)
         dataVecOutPos[i]->endEdit();
 }
-
 template <class TIn1, class TIn2, class TOut>
-void CenterOfMassMulti2Mapping< TIn1, TIn2, TOut >::applyJ(
-        const core::MechanicalParams* mparams, const type::vector< OutDataVecDeriv*>& dataVecOutVel,
-        const type::vector<const In1DataVecDeriv*>& dataVecIn1Vel,
-        const type::vector<const In2DataVecDeriv*>& dataVecIn2Vel)
-//applyJ(const type::vector< OutVecDeriv*>& outDeriv, const type::vector<const In1VecDeriv*>& inDeriv1, const type::vector<const In2VecDeriv*>& inDeriv2)
+void CenterOfMassMulti2Mapping<TIn1, TIn2, TOut>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams,
+    const type::vector<DataVecDeriv_t<Out>*>& dataVecTangentOut,
+    const type::vector<const DataVecDeriv_t<In1>*>& dataVecTangentIn1,
+    const type::vector<const DataVecDeriv_t<In2>*>& dataVecTangentIn2,
+    const type::vector<const DataVecCoord_t<In1>*>& dataVecPositionIn1,
+    const type::vector<const DataVecCoord_t<In2>*>& dataVecPositionIn2)
 {
     SOFA_UNUSED(mparams);
+    SOFA_UNUSED(dataVecPositionIn1);
+    SOFA_UNUSED(dataVecPositionIn2);
 
-    assert( dataVecOutVel.size() == 1 );
+    assert( dataVecTangentOut.size() == 1 );
     typedef typename type::vector<In1Deriv>::iterator                     iter_deriv1;
     typedef typename type::vector<In2Deriv>::iterator                     iter_deriv2;
 
     //Not optimized at all...
     type::vector<OutVecDeriv*> outDeriv;
-    for(unsigned int i=0; i<dataVecOutVel.size(); i++)
-        outDeriv.push_back(dataVecOutVel[i]->beginEdit());
+    for(unsigned int i=0; i<dataVecTangentOut.size(); i++)
+        outDeriv.push_back(dataVecTangentOut[i]->beginEdit());
 
     type::vector<const In1VecDeriv*> inDeriv1;
-    for(unsigned int i=0; i<dataVecIn1Vel.size(); i++)
-        inDeriv1.push_back(&dataVecIn1Vel[i]->getValue());
+    for(unsigned int i=0; i<dataVecTangentIn1.size(); i++)
+        inDeriv1.push_back(&dataVecTangentIn1[i]->getValue());
     type::vector<const In2VecDeriv*> inDeriv2;
-    for(unsigned int i=0; i<dataVecIn2Vel.size(); i++)
-        inDeriv2.push_back(&dataVecIn2Vel[i]->getValue());
+    for(unsigned int i=0; i<dataVecTangentIn2.size(); i++)
+        inDeriv2.push_back(&dataVecTangentIn2[i]->getValue());
 
     SReal px=0,py=0,pz=0;
 
@@ -155,8 +158,8 @@ void CenterOfMassMulti2Mapping< TIn1, TIn2, TOut >::applyJ(
     OutDataTypes::set((*outVecDeriv)[0], px,py,pz);
 
     //Really Not optimized at all...
-    for(unsigned int i=0; i<dataVecOutVel.size(); i++)
-        dataVecOutVel[i]->endEdit();
+    for(unsigned int i=0; i<dataVecTangentOut.size(); i++)
+        dataVecTangentOut[i]->endEdit();
 }
 
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.h

@@ -73,8 +73,11 @@ class CenterOfMassMultiMapping : public LinearMultiMapping<TIn, TOut>
     void apply(const core::MechanicalParams* mparams, const type::vector<OutDataVecCoord*>& dataVecOutPos, const type::vector<const InDataVecCoord*>& dataVecInPos) override;
     //virtual void apply(const type::vector<OutVecCoord*>& outPos, const vecConstInVecCoord& inPos);
 
-    void applyJ(const core::MechanicalParams* mparams, const type::vector<OutDataVecDeriv*>& dataVecOutVel, const type::vector<const InDataVecDeriv*>& dataVecInVel) override;
-    //virtual void applyJ(const type::vector<OutVecDeriv*>& outDeriv, const type::vector<const  InVecDeriv*>& inDeriv);
+    virtual void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        const type::vector< DataVecDeriv_t<Out>*>& dataVecTangentOut,
+        const type::vector<const DataVecDeriv_t<In>*>& dataVecTangentIn,
+        const type::vector<const DataVecCoord_t<In>*>& dataVecPositionIn) override;
 
     void applyJT(const core::MechanicalParams* mparams, const type::vector<InDataVecDeriv*>& dataVecOutForce, const type::vector<const OutDataVecDeriv*>& dataVecInForce) override;
     //virtual void applyJT(const type::vector< InVecDeriv*>& outDeriv, const type::vector<const OutVecDeriv*>& inDeriv);

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/CenterOfMassMultiMapping.inl

@@ -66,22 +66,26 @@ void CenterOfMassMultiMapping< TIn, TOut >::apply(const core::MechanicalParams*
         dataVecOutPos[i]->endEdit();
 }
 
-
 template <class TIn, class TOut>
-void CenterOfMassMultiMapping< TIn, TOut >::applyJ(const core::MechanicalParams* mparams, const type::vector<OutDataVecDeriv*>& dataVecOutVel, const type::vector<const InDataVecDeriv*>& dataVecInVel)
+void CenterOfMassMultiMapping<TIn, TOut>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams,
+    const type::vector<DataVecDeriv_t<Out>*>& dataVecTangentOut,
+    const type::vector<const DataVecDeriv_t<In>*>& dataVecTangentIn,
+    const type::vector<const DataVecCoord_t<In>*>& dataVecPositionIn)
 {
     SOFA_UNUSED(mparams);
+    SOFA_UNUSED(dataVecPositionIn);
 
     typedef typename InVecDeriv::iterator iter_deriv;
 
     //Not optimized at all...
     type::vector<OutVecDeriv*> outDeriv;
-    for(unsigned int i=0; i<dataVecOutVel.size(); i++)
-        outDeriv.push_back(dataVecOutVel[i]->beginEdit());
+    for(unsigned int i=0; i<dataVecTangentOut.size(); i++)
+        outDeriv.push_back(dataVecTangentOut[i]->beginEdit());
 
     type::vector<const InVecDeriv*> inDeriv;
-    for(unsigned int i=0; i<dataVecInVel.size(); i++)
-        inDeriv.push_back(&dataVecInVel[i]->getValue());
+    for(unsigned int i=0; i<dataVecTangentIn.size(); i++)
+        inDeriv.push_back(&dataVecTangentIn[i]->getValue());
 
     assert( outDeriv.size() == 1 );
 
@@ -98,8 +102,8 @@ void CenterOfMassMultiMapping< TIn, TOut >::applyJ(const core::MechanicalParams*
     OutDataTypes::set((*outVecDeriv)[0], x,y,z);
 
     //Really Not optimized at all...
-    for(unsigned int i=0; i<dataVecOutVel.size(); i++)
-        dataVecOutVel[i]->endEdit();
+    for(unsigned int i=0; i<dataVecTangentOut.size(); i++)
+        dataVecTangentOut[i]->endEdit();
 }
 
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.h

@@ -127,10 +127,13 @@ class DeformableOnRigidFrameMapping : public LinearMulti2Mapping<TIn, TInRoot, T
 
     //ApplyJ
     void applyJ( OutVecDeriv& out, const InVecDeriv& in, const InRootVecDeriv* inroot );
-    void applyJ(
-        const core::MechanicalParams* /* mparams */, const type::vector< OutDataVecDeriv*>& dataVecOutVel,
-        const type::vector<const InDataVecDeriv*>& dataVecInVel,
-        const type::vector<const InRootDataVecDeriv*>& dataVecInRootVel) override;
+    virtual void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        const type::vector< DataVecDeriv_t<Out>*>& dataVecTangentOut,
+        const type::vector<const DataVecDeriv_t<TIn>*>& dataVecTangentIn1,
+        const type::vector<const DataVecDeriv_t<TInRoot>*>& dataVecTangentIn2,
+        const type::vector<const DataVecCoord_t<TIn>*>& dataVecPositionIn1,
+        const type::vector<const DataVecCoord_t<TInRoot>*>& dataVecPositionIn2) override;
 
     //ApplyJT Force
     void applyJT( InVecDeriv& out, const OutVecDeriv& in, InRootVecDeriv* outroot );

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DeformableOnRigidFrameMapping.inl

@@ -281,26 +281,33 @@ void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::applyJ( typename Out::Ve
 }
 
 template <class TIn, class TInRoot, class TOut>
-void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::applyJ(
-    const core::MechanicalParams* /* mparams */, const type::vector< OutDataVecDeriv*>& dataVecOutVel,
-    const type::vector<const InDataVecDeriv*>& dataVecInVel,
-    const type::vector<const InRootDataVecDeriv*>& dataVecInRootVel)
+void DeformableOnRigidFrameMapping<TIn, TInRoot, TOut>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams,
+    const type::vector<DataVecDeriv_t<Out>*>& dataVecTangentOut,
+    const type::vector<const DataVecDeriv_t<TIn>*>& dataVecTangentIn1,
+    const type::vector<const DataVecDeriv_t<TInRoot>*>& dataVecTangentIn2,
+    const type::vector<const DataVecCoord_t<TIn>*>& dataVecPositionIn1,
+    const type::vector<const DataVecCoord_t<TInRoot>*>& dataVecPositionIn2)
 {
-    if(dataVecOutVel.empty() || dataVecInVel.empty())
+    SOFA_UNUSED(mparams);
+    SOFA_UNUSED(dataVecPositionIn1);
+    SOFA_UNUSED(dataVecPositionIn2);
+
+    if(dataVecTangentOut.empty() || dataVecTangentIn1.empty())
         return;
 
     const InRootVecDeriv* inroot = nullptr;
 
     //We need only one input In model and input Root model (if present)
-    OutVecDeriv& out = *dataVecOutVel[0]->beginEdit();
-    const InVecDeriv& in = dataVecInVel[0]->getValue();
+    OutVecDeriv& out = *dataVecTangentOut[0]->beginEdit();
+    const InVecDeriv& in = dataVecTangentIn1[0]->getValue();
 
-    if (!dataVecInRootVel.empty())
-        inroot = &dataVecInRootVel[0]->getValue();
+    if (!dataVecTangentIn2.empty())
+        inroot = &dataVecTangentIn2[0]->getValue();
 
     applyJ(out,in, inroot);
 
-    dataVecOutVel[0]->endEdit();
+    dataVecTangentOut[0]->endEdit();
 }
 
 template <class TIn, class TInRoot, class TOut>

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DistanceToPlaneMapping.h

@@ -46,7 +46,11 @@ class DistanceToPlaneMapping : public LinearMapping<TIn, defaulttype::Vec1Types>
 
     void apply(const core::MechanicalParams *mparams, Data<VecCoord_t<TOut>>& out, const Data<VecCoord_t<TIn>>& in) override;
 
-    void applyJ(const core::MechanicalParams *mparams, Data<VecDeriv_t<TOut>>& out, const Data<VecDeriv_t<TIn>>& in) override;
+    void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<TOut>& tangentOut,
+        const DataVecDeriv_t<TIn>& tangentIn,
+        const DataVecCoord_t<TIn>& positionIn) override;
 
     void applyJT(const core::MechanicalParams *mparams, Data<VecDeriv_t<TIn>>& out, const Data<VecDeriv_t<TOut>>& in) override;
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/DistanceToPlaneMapping.inl

@@ -100,17 +100,19 @@ void DistanceToPlaneMapping<TIn>::apply(const core::MechanicalParams *mparams, D
         writeOut[i] = type::dot(TIn::getCPos(readIn[i]),planeNormal) - planeDistanceToOrigin;
     }
 }
-
 template <class TIn>
-void DistanceToPlaneMapping<TIn>::applyJ(const core::MechanicalParams *mparams, Data<VecDeriv_t<TOut>>& out, const Data<VecDeriv_t<TIn>>& in)
+void DistanceToPlaneMapping<TIn>::doApplyJacobianVectorProduct(
+    const core::MechanicalParams* mparams, DataVecDeriv_t<TOut>& tangentOut,
+    const DataVecDeriv_t<TIn>& tangentIn, const DataVecCoord_t<TIn>& positionIn)
 {
     SOFA_UNUSED(mparams);
+    SOFA_UNUSED(positionIn);
 
     if (this-> d_componentState.getValue() != sofa::core::objectmodel::ComponentState::Valid)
         return;
 
-    auto writeOut = helper::getWriteAccessor(out);
-    const auto readIn = helper::getReadAccessor(in);
+    auto writeOut = helper::getWriteAccessor(tangentOut);
+    const auto readIn = helper::getReadAccessor(tangentIn);
     const auto planeNormal = d_planeNormal.getValue();
 
     for ( unsigned i = 0; i<readIn.size(); i++ )

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.h

@@ -104,7 +104,11 @@ class IdentityMapping : public LinearMapping<TIn, TOut>
 
     void apply(const core::MechanicalParams *mparams, Data<VecCoord>& out, const Data<InVecCoord>& in) override;
 
-    void applyJ(const core::MechanicalParams *mparams, Data<VecDeriv>& out, const Data<InVecDeriv>& in) override;
+    void doApplyJacobianVectorProduct(
+        const core::MechanicalParams* mparams,
+        DataVecDeriv_t<Out>& tangentOut,
+        const DataVecDeriv_t<In>& tangentIn,
+        const DataVecCoord_t<In>& positionIn) override;
 
     void applyJT(const core::MechanicalParams *mparams, Data<InVecDeriv>& out, const Data<VecDeriv>& in) override;
 

Sofa/Component/Mapping/Linear/src/sofa/component/mapping/linear/IdentityMapping.inl

@@ -73,12 +73,18 @@ void IdentityMapping<TIn, TOut>::apply(const core::MechanicalParams * /*mparams*
 }
 
 template <class TIn, class TOut>
-void IdentityMapping<TIn, TOut>::applyJ(const core::MechanicalParams * /*mparams*/, Data<VecDeriv>& dOut, const Data<InVecDeriv>& dIn)
+void IdentityMapping<TIn, TOut>::doApplyJacobianVectorProduct(const core::MechanicalParams* mparams,
+                                                              DataVecDeriv_t<Out>& tangentOut,
+                                                              const DataVecDeriv_t<In>& tangentIn,
+                                                              const DataVecCoord_t<In>& positionIn)
 {
-    helper::WriteOnlyAccessor< Data<VecDeriv> > out = dOut;
-    helper::ReadAccessor< Data<InVecDeriv> > in = dIn;
+    SOFA_UNUSED(mparams);
+    SOFA_UNUSED(positionIn);
 
-    for( size_t i=0 ; i<out.size() ; ++i)
+    helper::WriteOnlyAccessor< Data<VecDeriv> > out = tangentOut;
+    helper::ReadAccessor< Data<InVecDeriv> > in = tangentIn;
+
+    for (size_t i = 0; i < out.size(); ++i)
     {
         core::eq(out[i], in[i]);
     }