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[Bindings] Add SofaSimulationCore module and VectorOperations bindings
Signed-off-by: Jean-Nicolas Brunet <[email protected]>
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‎bindings/Modules/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -1,6 +1,6 @@
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project(Bindings.Modules)
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3-
set(MODULEBINDINGS_MODULE_LIST SofaBaseTopology SofaDeformable)
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set(MODULEBINDINGS_MODULE_LIST SofaBaseTopology SofaDeformable SofaSimulationCore)
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find_package(Sofa.GL QUIET)
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if(Sofa.GL_FOUND)

‎bindings/Modules/src/SofaPython3/SofaSimulationCore/Binding_VectorOperations.cpp‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: [email protected] *
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******************************************************************************/
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#include <pybind11/pybind11.h>
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#include <sofa/simulation/config.h>
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#include <sofa/simulation/VectorOperations.h>
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namespace py { using namespace pybind11; }
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namespace sofapython3 {
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void moduleAddVectorOperations(pybind11::module& m)
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{
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using namespace sofa::simulation::common;
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py::class_<VectorOperations> c (m, "VectorOperations");
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c.def(py::init([](sofa::core::objectmodel::BaseContext* context, bool precomputedTraversalOrder = false) {
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return VectorOperations(sofa::core::ExecParams::defaultInstance(), context, precomputedTraversalOrder);
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}), py::arg("context"), py::arg("precomputedTraversalOrder") = false);
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c.def("v_alloc", py::overload_cast<sofa::core::MultiVecCoordId&>(&VectorOperations::v_alloc), py::arg("multi_vector_id"));
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c.def("v_alloc", py::overload_cast<sofa::core::MultiVecDerivId&>(&VectorOperations::v_alloc), py::arg("multi_vector_id"));
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c.def("v_free", py::overload_cast<sofa::core::MultiVecCoordId&, bool, bool>(&VectorOperations::v_free), py::arg("multi_vector_id"), py::arg("interactionForceField") = false, py::arg("propagate") = false);
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c.def("v_free", py::overload_cast<sofa::core::MultiVecDerivId&, bool, bool>(&VectorOperations::v_free), py::arg("multi_vector_id"), py::arg("interactionForceField") = false, py::arg("propagate") = false);
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c.def("v_realloc", py::overload_cast<sofa::core::MultiVecCoordId&, bool, bool>(&VectorOperations::v_realloc), py::arg("multi_vector_id"), py::arg("interactionForceField") = false, py::arg("propagate") = false);
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c.def("v_realloc", py::overload_cast<sofa::core::MultiVecDerivId&, bool, bool>(&VectorOperations::v_realloc), py::arg("multi_vector_id"), py::arg("interactionForceField") = false, py::arg("propagate") = false);
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c.def("v_clear", &VectorOperations::v_clear, py::arg("multi_vector_id"));
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c.def("v_size", &VectorOperations::v_size, py::arg("multi_vector_id"));
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c.def("v_eq", py::overload_cast<sofa::core::MultiVecId, sofa::core::ConstMultiVecId>(&VectorOperations::v_eq), py::arg("v").noconvert(false), py::arg("a").noconvert(false), "v = a");
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c.def("v_eq", [](VectorOperations & self, sofa::core::MultiVecId &v, sofa::core::ConstMultiVecId & a){
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self.v_eq(v, a);
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});
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c.def("v_eq", py::overload_cast<sofa::core::MultiVecId, sofa::core::ConstMultiVecId, SReal>(&VectorOperations::v_eq), py::arg("v").noconvert(false), py::arg("a").noconvert(false), py::arg("f").noconvert(false), "v = f*a");
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c.def("v_peq", &VectorOperations::v_peq, py::arg("v"), py::arg("a"), py::arg("f")=1.0, "v += f*a");
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c.def("v_teq", &VectorOperations::v_teq, py::arg("v"), py::arg("f"), "v *= f");
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c.def("v_op", &VectorOperations::v_op, py::arg("v"), py::arg("a"), py::arg("b"), py::arg("f"), "v=a+b*f");
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c.def("v_dot", &VectorOperations::v_dot, py::arg("a"), py::arg("b"), "a dot b ( get result using finish )");
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c.def("v_norm", &VectorOperations::v_norm, py::arg("a"), py::arg("l"), "Compute the norm of a vector ( get result using finish ). The type of norm is set by parameter l. Use 0 for the infinite norm. Note that the 2-norm is more efficiently computed using the square root of the dot product.");
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c.def("finish", &VectorOperations::finish);
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c.def("v_threshold", &VectorOperations::v_threshold, py::arg("a"), py::arg("threshold"), "Nullify the values below the given threshold.");
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}
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}

‎bindings/Modules/src/SofaPython3/SofaSimulationCore/CMakeLists.txt‎

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project(Bindings.Modules.SofaSimulationCore)
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set(SOURCE_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_VectorOperations.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Module_SofaSimulationCore.cpp
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)
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set(HEADER_FILES
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)
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find_package(Sofa.SimulationCore REQUIRED)
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SP3_add_python_module(
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TARGET ${PROJECT_NAME}
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PACKAGE Bindings
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MODULE SofaSimulationCore
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DESTINATION Sofa
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SOURCES ${SOURCE_FILES}
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HEADERS ${HEADER_FILES}
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DEPENDS SofaSimulationCore SofaPython3::Plugin
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)

‎bindings/Modules/src/SofaPython3/SofaSimulationCore/Module_SofaSimulationCore.cpp‎

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/******************************************************************************
2+
* SofaPython3 plugin *
3+
* (c) 2021 CNRS, University of Lille, INRIA *
4+
* *
5+
* This program is free software; you can redistribute it and/or modify it *
6+
* under the terms of the GNU Lesser General Public License as published by *
7+
* the Free Software Foundation; either version 2.1 of the License, or (at *
8+
* your option) any later version. *
9+
* *
10+
* This program is distributed in the hope that it will be useful, but WITHOUT *
11+
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
12+
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
13+
* for more details. *
14+
* *
15+
* You should have received a copy of the GNU Lesser General Public License *
16+
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
17+
*******************************************************************************
18+
* Contact information: [email protected] *
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******************************************************************************/
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#include <pybind11/pybind11.h>
22+
#include <sofa/simulation/init.h>
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namespace py { using namespace pybind11; }
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namespace sofapython3
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{
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29+
void moduleAddVectorOperations(pybind11::module& m);
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PYBIND11_MODULE(SofaSimulationCore, m)
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{
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moduleAddVectorOperations(m);
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}
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} // namespace sofapython3

‎bindings/Modules/tests/CMakeLists.txt‎

Lines changed: 2 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@ set(SOURCE_FILES
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set(PYTHON_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/SofaDeformable/LinearSpring.py
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${CMAKE_CURRENT_SOURCE_DIR}/SofaDeformable/SpringForceField.py
10+
${CMAKE_CURRENT_SOURCE_DIR}/SofaSimulationCore/VectorOperations.py
1011
)
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find_package(SofaGTestMain REQUIRED)
@@ -26,7 +27,7 @@ sofa_auto_set_target_rpath(
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2728
add_test(NAME ${PROJECT_NAME} COMMAND ${PROJECT_NAME})
2829

29-
set(DIR_BINDING_LIST SofaBaseTopology SofaDeformable)
30+
set(DIR_BINDING_LIST SofaBaseTopology SofaDeformable SofaSimulationCore)
3031
get_property(_isMultiConfig GLOBAL PROPERTY GENERATOR_IS_MULTI_CONFIG)
3132
foreach(dir_binding ${DIR_BINDING_LIST})
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if (NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/${dir_binding}")

‎bindings/Modules/tests/SofaSimulationCore/VectorOperations.py‎

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import unittest
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import Sofa
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from Sofa import SofaSimulationCore
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import numpy as np
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6+
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class VectorOperations(unittest.TestCase):
8+
def test_alloc_coord(self):
9+
root = Sofa.Core.Node()
10+
create_scene(root)
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Sofa.Simulation.init(root)
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vop = SofaSimulationCore.VectorOperations(root)
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# Create a first multivector
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multi_vec_id_1 = Sofa.Core.MultiVecCoordId()
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self.assertEqual(multi_vec_id_1.defaultId.index, 0)
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self.assertTrue(multi_vec_id_1.isNull())
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vop.v_alloc(multi_vec_id_1)
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self.assertFalse(multi_vec_id_1.isNull())
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self.assertEqual(multi_vec_id_1.getId(root.node_1.mo).index, 5)
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self.assertEqual(multi_vec_id_1.getId(root.node_2.mo).index, 5)
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# Create a second one
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multi_vec_id_2 = Sofa.Core.MultiVecCoordId()
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vop.v_alloc(multi_vec_id_2)
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self.assertEqual(multi_vec_id_2.getId(root.node_1.mo).index, 6)
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self.assertEqual(multi_vec_id_2.getId(root.node_2.mo).index, 6)
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# Create a third one, only in node_2
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vop2 = SofaSimulationCore.VectorOperations(root.node_2)
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multi_vec_id_3 = Sofa.Core.MultiVecCoordId()
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vop2.v_alloc(multi_vec_id_3)
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self.assertEqual(multi_vec_id_3.getId(root.node_1.mo).index, 0)
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self.assertEqual(multi_vec_id_3.getId(root.node_2.mo).index, 7)
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# Free
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vop.v_free(multi_vec_id_1)
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vop.v_free(multi_vec_id_2)
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vop2.v_free(multi_vec_id_3)
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def test_alloc_deriv(self):
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root = Sofa.Core.Node()
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create_scene(root)
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Sofa.Simulation.init(root)
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vop = SofaSimulationCore.VectorOperations(root)
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# Create a first multivector
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multi_vec_id_1 = Sofa.Core.MultiVecDerivId()
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self.assertEqual(multi_vec_id_1.defaultId.index, 0)
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self.assertTrue(multi_vec_id_1.isNull())
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vop.v_alloc(multi_vec_id_1)
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self.assertFalse(multi_vec_id_1.isNull())
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self.assertEqual(multi_vec_id_1.getId(root.node_1.mo).index, 9)
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self.assertEqual(multi_vec_id_1.getId(root.node_2.mo).index, 9)
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# Create a second one
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multi_vec_id_2 = Sofa.Core.MultiVecDerivId()
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vop.v_alloc(multi_vec_id_2)
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self.assertEqual(multi_vec_id_2.getId(root.node_1.mo).index, 10)
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self.assertEqual(multi_vec_id_2.getId(root.node_2.mo).index, 10)
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# Create a third one, only in node_2
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vop2 = SofaSimulationCore.VectorOperations(root.node_2)
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multi_vec_id_3 = Sofa.Core.MultiVecDerivId()
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vop2.v_alloc(multi_vec_id_3)
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self.assertEqual(multi_vec_id_3.getId(root.node_1.mo).index, 0)
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self.assertEqual(multi_vec_id_3.getId(root.node_2.mo).index, 11)
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# Free
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vop.v_free(multi_vec_id_1)
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vop.v_free(multi_vec_id_2)
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vop2.v_free(multi_vec_id_3)
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def test_op(self):
77+
root = Sofa.Core.Node()
78+
create_scene(root)
79+
Sofa.Simulation.init(root)
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vop = SofaSimulationCore.VectorOperations(root)
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# Create a temporary multivector
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v = Sofa.Core.MultiVecCoordId()
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vop.v_alloc(v)
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x_id = Sofa.Core.VecCoordId.position()
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vop.v_eq(v, x_id) # v = x
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vop.v_peq(v, x_id, 2) # v += 2*x
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vop.v_dot(v, v) # n = sqrt(v dot v)
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n = np.sqrt(vop.finish())
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x = np.concatenate((root.node_1.mo.position.array(), root.node_2.mo.position.array()), axis=None).flatten()
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self.assertEqual(n, np.linalg.norm(x + (2*x)))
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def create_scene(root):
98+
root.addObject('RequiredPlugin', pluginName='SofaBaseMechanics')
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root.addChild('node_1')
100+
root.node_1.addObject('MechanicalObject', name='mo', template='Vec3', position=[[1,1,1], [2,2,2], [3,3,3]])
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root.addChild('node_2')
103+
root.node_2.addObject('MechanicalObject', name='mo', template='Vec2', position=[[1,1], [2,2], [3,3], [4, 4]])

‎bindings/Modules/tests/main.cpp‎

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@@ -36,8 +36,8 @@ static struct Tests : public sofapython3::PythonTestExtractor
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MessageDispatcher::addHandler(&MainPerComponentLoggingMessageHandler::getInstance()) ;
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const std::string executable_directory = sofa::helper::Utils::getExecutableDirectory();
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addTestDirectory(executable_directory+"/SofaBaseTopology", "SofaBaseTopology_");
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addTestDirectory(executable_directory+"/SofaDeformable", "SofaDeformable_");
40+
addTestDirectory(executable_directory+"/SofaSimulationCore", "SofaSimulationCore_");
4141
}
4242
} python_tests;
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