[Core] Rework the component factory

Sofa/Component/Engine/Analyze/src/sofa/component/engine/analyze/Distances.h

@@ -70,7 +70,9 @@ class Distances : public core::DataEngine
     DistancesInternalData<DataTypes> data;
     friend class DistancesInternalData<DataTypes>;
 
-    Distances ( sofa::component::topology::container::dynamic::DynamicSparseGridTopologyContainer* hexaTopoContainer, core::behavior::MechanicalState<DataTypes>* targetPointSet );
+    explicit Distances(
+        topology::container::dynamic::DynamicSparseGridTopologyContainer* hexaTopoContainer = nullptr,
+        core::behavior::MechanicalState<DataTypes>* targetPointSet = nullptr );
 
     ~Distances() override {}
 

Sofa/Component/LinearSolver/Direct/src/sofa/component/linearsolver/direct/SparseLDLSolver.cpp

@@ -29,11 +29,23 @@ namespace sofa::component::linearsolver::direct
 
 using namespace sofa::linearalgebra;
 
+constexpr std::string_view description { "Direct linear solver using a Sparse LDL^T factorization." };
+
+template<class TMatrix, class TVector>
+void registerComponent(sofa::core::ComponentFactory* factory)
+{
+    factory->registerComponent(
+    core::CreateComponent<SparseLDLSolver<TMatrix, TVector>>()
+        .withModule(MODULE_NAME)
+        .withDescription(std::string(description))
+        .template addTemplateAttribute<TMatrix>("matrixType")
+    );
+};
+
 void registerSparseLDLSolver(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Direct linear solver using a Sparse LDL^T factorization.")
-        .add< SparseLDLSolver< CompressedRowSparseMatrix<SReal>, FullVector<SReal> > >(true)
-        .add< SparseLDLSolver< CompressedRowSparseMatrix<type::Mat<3, 3, SReal> >, FullVector<SReal> > >());
+    registerComponent<CompressedRowSparseMatrix<SReal>, FullVector<SReal>>(factory);
+    registerComponent<CompressedRowSparseMatrix<sofa::type::Mat<3, 3, SReal>>, FullVector<SReal>>(factory);
 }
 
 template class SOFA_COMPONENT_LINEARSOLVER_DIRECT_API SparseLDLSolver< CompressedRowSparseMatrix<SReal>,FullVector<SReal> >;

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

@@ -32,8 +32,14 @@ using namespace sofa::defaulttype;
 
 void registerBarycentricMapping(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Mapping using barycentric coordinates of the child with respect to cells of its parent.")
-        .add< BarycentricMapping< Vec3Types, Vec3Types > >(true));
+    factory->registerComponent(
+        core::CreateComponent<BarycentricMapping<Vec3Types, Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Mapping using barycentric coordinates of the child with respect to cells of its parent.")
+        .template addTemplateAttribute<Vec3Types>("inDofType")
+        .template addTemplateAttribute<Vec3Types>("outDofType")
+        .template withDeductionRule<core::CanCreateDeductionRule<BarycentricMapping< Vec3Types, Vec3Types >>>()
+    );
 }
 
 template class SOFA_COMPONENT_MAPPING_LINEAR_API BarycentricMapping< Vec3Types, Vec3Types >;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/BeamFEMForceField.cpp

@@ -32,8 +32,11 @@ using namespace sofa::defaulttype;
 
 void registerBeamFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Beam finite elements.")
-        .add< BeamFEMForceField<Rigid3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<BeamFEMForceField<Rigid3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Beam finite elements.")
+    );
 }
 
 namespace _beamfemforcefield_
@@ -43,4 +46,4 @@ namespace _beamfemforcefield_
 
 } // namespace _beamfemforcefield_
 
-} // namespace sofa::component::solidmechanics::fem::elastic
+} // namespace sofa::component::solidmechanics::fem::elastic

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/CorotationalFEMForceField.cpp

@@ -29,22 +29,34 @@
 namespace sofa::component::solidmechanics::fem::elastic
 {
 
-void registerCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
+static constexpr std::string_view description { "Hooke's law using the corotational approach" };
+
+template <class DataTypes, class ElementType>
+void registerComponent(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law using the corotational approach")
-    //     .add< CorotationalFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
-        .add< CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >()
+    factory->registerComponent(
+        core::CreateComponent<CorotationalFEMForceField<DataTypes, ElementType>>()
+        .withModule(MODULE_NAME)
+        .withDescription(std::string(description))
+        .template addTemplateAttribute<DataTypes>("dofType")
+        .addTemplateAttribute("elementType", sofa::geometry::elementTypeToString(ElementType::Element_type))
     );
 }
 
+void registerCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    // registerComponent<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Quad>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Quad>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>(factory);
+}
+
 // template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API CorotationalFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API CorotationalFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API CorotationalFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/FastTetrahedralCorotationalForceField.cpp

@@ -33,8 +33,12 @@ using namespace sofa::defaulttype;
 
 void registerFastTetrahedralCorotationalForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Fast Corotational Tetrahedral Mesh.")
-        .add< FastTetrahedralCorotationalForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<FastTetrahedralCorotationalForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Fast Corotational Tetrahedral Mesh.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API FastTetrahedralCorotationalForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceField.cpp

@@ -32,8 +32,12 @@ using namespace sofa::defaulttype;
 
 void registerHexahedralFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements.")
-        .add< HexahedralFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<HexahedralFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Hexahedral finite elements.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedralFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedralFEMForceFieldAndMass.cpp

@@ -32,8 +32,12 @@ using namespace sofa::defaulttype;
 
 void registerHexahedralFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements with mass")
-        .add< HexahedralFEMForceFieldAndMass<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<HexahedralFEMForceFieldAndMass<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Hexahedral finite elements with mass")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedralFEMForceFieldAndMass<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceField.cpp

@@ -32,8 +32,12 @@ using namespace sofa::defaulttype;
 
 void registerHexahedronFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements.")
-        .add< HexahedronFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<HexahedronFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Hexahedral finite elements.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedronFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/HexahedronFEMForceFieldAndMass.cpp

@@ -31,12 +31,16 @@ using namespace sofa::defaulttype;
 
 void registerHexahedronFEMForceFieldAndMass(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Hexahedral finite elements with mass.")
-        .add< HexahedronFEMForceFieldAndMass<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<HexahedronFEMForceFieldAndMass<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Hexahedral finite elements with mass.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API HexahedronFEMForceFieldAndMass<Vec3Types>;
 
 
 
-} // namespace sofa::component::solidmechanics::fem::elastic
+} // namespace sofa::component::solidmechanics::fem::elastic

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/LinearSmallStrainFEMForceField.cpp

@@ -29,22 +29,34 @@
 namespace sofa::component::solidmechanics::fem::elastic
 {
 
-void registerLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* factory)
+static constexpr std::string_view description { "Hooke's law assuming small strain" };
+
+template <class DataTypes, class ElementType>
+void registerComponent(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(sofa::core::ObjectRegistrationData("Hooke's law assuming small strain")
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Quad> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Quad> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron> >()
-        .add< LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Prism> >()
+    factory->registerComponent(
+        core::CreateComponent<LinearSmallStrainFEMForceField<DataTypes, ElementType>>()
+        .withModule(MODULE_NAME)
+        .withDescription(std::string(description))
+        .template addTemplateAttribute<DataTypes>("dofType")
+        .addTemplateAttribute("elementType", sofa::geometry::elementTypeToString(ElementType::Element_type))
     );
 }
 
+void registerLinearSmallStrainFEMForceField(sofa::core::ObjectFactory* factory)
+{
+    registerComponent<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Triangle>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Triangle>(factory);
+    registerComponent<sofa::defaulttype::Vec2Types, sofa::geometry::Quad>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Quad>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Tetrahedron>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Hexahedron>(factory);
+    registerComponent<sofa::defaulttype::Vec3Types, sofa::geometry::Prism>(factory);
+}
+
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API LinearSmallStrainFEMForceField<sofa::defaulttype::Vec1Types, sofa::geometry::Edge>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API LinearSmallStrainFEMForceField<sofa::defaulttype::Vec2Types, sofa::geometry::Edge>;
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API LinearSmallStrainFEMForceField<sofa::defaulttype::Vec3Types, sofa::geometry::Edge>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/QuadBendingFEMForceField.cpp

@@ -36,8 +36,12 @@ using namespace sofa::defaulttype;
 
 void registerQuadBendingFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Bending Quad finite elements")
-        .add< QuadBendingFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<QuadBendingFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Bending Quad finite elements")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API QuadBendingFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedralCorotationalFEMForceField.cpp

@@ -33,8 +33,12 @@ using namespace sofa::defaulttype;
 
 void registerTetrahedralCorotationalFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Corotational FEM Tetrahedral finite elements")
-        .add< TetrahedralCorotationalFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TetrahedralCorotationalFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Corotational FEM Tetrahedral finite elements")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TetrahedralCorotationalFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TetrahedronFEMForceField.cpp

@@ -33,8 +33,12 @@ using namespace sofa::defaulttype;
 
 void registerTetrahedronFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Tetrahedral finite elements.")
-        .add< TetrahedronFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TetrahedronFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Tetrahedral finite elements.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TetrahedronFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangleFEMForceField.cpp

@@ -33,8 +33,12 @@ using namespace sofa::defaulttype;
 
 void registerTriangleFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Triangular finite elements for static topology.")
-        .add< TriangleFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TriangleFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Triangular finite elements for static topology.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangleFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularAnisotropicFEMForceField.cpp

@@ -31,8 +31,12 @@ using namespace sofa::defaulttype;
 
 void registerTriangularAnisotropicFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Triangular finite element model using anisotropic material.")
-        .add< TriangularAnisotropicFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TriangularAnisotropicFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Triangular finite element model using anisotropic material.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularAnisotropicFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceField.cpp

@@ -34,8 +34,12 @@ using namespace sofa::defaulttype;
 
 void registerTriangularFEMForceField(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Corotational Triangular finite elements for dynamic topology.")
-        .add< TriangularFEMForceField<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TriangularFEMForceField<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Corotational Triangular finite elements for dynamic topology.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularFEMForceField<Vec3Types>;

Sofa/Component/SolidMechanics/FEM/Elastic/src/sofa/component/solidmechanics/fem/elastic/TriangularFEMForceFieldOptim.cpp

@@ -32,8 +32,12 @@ using namespace sofa::defaulttype;
 
 void registerTriangularFEMForceFieldOptim(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("Corotational Triangular finite elements.")
-        .add< TriangularFEMForceFieldOptim<Vec3Types> >());
+    factory->registerComponent(
+        core::CreateComponent<TriangularFEMForceFieldOptim<Vec3Types>>()
+        .withModule(MODULE_NAME)
+        .withDescription("Corotational Triangular finite elements.")
+        .template addTemplateAttribute<Vec3Types>("dofType")
+    );
 }
 
 template class SOFA_COMPONENT_SOLIDMECHANICS_FEM_ELASTIC_API TriangularFEMForceFieldOptim<Vec3Types>;

Sofa/Component/StateContainer/src/sofa/component/statecontainer/MechanicalObject.cpp

@@ -41,15 +41,28 @@ template class SOFA_COMPONENT_STATECONTAINER_API MechanicalObject<Vec6Types>;
 template class SOFA_COMPONENT_STATECONTAINER_API MechanicalObject<Rigid3Types>;
 template class SOFA_COMPONENT_STATECONTAINER_API MechanicalObject<Rigid2Types>;
 
+static constexpr std::string_view description {"Mechanical state vectors"};
+
+template<class T>
+void registerComponent(sofa::core::ComponentFactory* factory)
+{
+    factory->registerComponent(
+        core::CreateComponent<MechanicalObject<T>>("MechanicalObject")
+        .withModule(MODULE_NAME)
+        .withDescription(std::string(description))
+        .template addTemplateAttribute<T>("dofType")
+    );
+};
+
 void registerMechanicalObject(sofa::core::ObjectFactory* factory)
 {
-    factory->registerObjects(core::ObjectRegistrationData("mechanical state vectors")
-        .add< MechanicalObject<Vec3Types> >(true) // default template
-        .add< MechanicalObject<Vec2Types> >()
-        .add< MechanicalObject<Vec1Types> >()
-        .add< MechanicalObject<Vec6Types> >()
-        .add< MechanicalObject<Rigid3Types> >()
-        .add< MechanicalObject<Rigid2Types> >());
+    registerComponent<Vec3Types>(factory);
+    registerComponent<Vec2Types>(factory);
+    registerComponent<Vec1Types>(factory);
+    registerComponent<Vec6Types>(factory);
+    registerComponent<Rigid3Types>(factory);
+    registerComponent<Rigid2Types>(factory);
+
 }
 
 template<>