[Bindings] Add VecId bindings

jnbrunet · jnbrunet · commit d05cd3026d59 · 2021-06-29T20:50:18.000-04:00
Signed-off-by: Jean-Nicolas Brunet &lt;jnbrunet2000@gmail.com&gt;
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VecId.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VecId.cpp
@@ -0,0 +1,107 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#include <SofaPython3/Sofa/Core/Binding_VecId.h>
+#include <sofa/core/VecId.h>
+
+namespace py { using namespace pybind11; }
+using namespace sofa::core;
+
+namespace sofapython3 {
+
+template <VecType vtype, VecAccess vaccess>
+void bindVecId(py::module& m, const std::string & name) {
+
+    using StandardVec = TStandardVec<vtype, vaccess>;
+    py::class_<StandardVec> s (m, ("Standard"+name).c_str());
+    if constexpr (vtype == VecType::V_COORD || vtype == VecType::V_ALL) {
+        s.def_static("position", &StandardVec::position);
+        s.def_static("restPosition", &StandardVec::restPosition);
+        s.def_static("freePosition", &StandardVec::freePosition);
+        s.def_static("resetPosition", &StandardVec::resetPosition);
+    }
+    if constexpr (vtype == VecType::V_DERIV || vtype == VecType::V_ALL) {
+        s.def_static("velocity", &StandardVec::velocity);
+        s.def_static("resetVelocity", &StandardVec::resetVelocity);
+        s.def_static("freeVelocity", &StandardVec::freeVelocity);
+        s.def_static("normal", &StandardVec::normal);
+        s.def_static("force", &StandardVec::force);
+        s.def_static("externalForce", &StandardVec::externalForce);
+        s.def_static("dx", &StandardVec::dx);
+        s.def_static("dforce", &StandardVec::dforce);
+    }
+    if constexpr(vtype == VecType::V_MATDERIV || vtype == VecType::V_ALL) {
+        s.def_static("constraintJacobian", &StandardVec::constraintJacobian);
+        s.def_static("mappingJacobian", &StandardVec::mappingJacobian);
+    }
+
+    if constexpr (vtype == VecType::V_ALL) {
+        s.def_static("getFirstDynamicIndex", &StandardVec::getFirstDynamicIndex, py::arg("t"));
+    }
+
+    using VecId = TVecId<vtype, vaccess>;
+    py::class_<VecId, StandardVec, BaseVecId> v (m, name.c_str());
+    v.def(py::init());
+    if constexpr (vtype != V_ALL) {
+        py::implicitly_convertible<TVecId<vtype, vaccess>, TVecId<V_ALL, vaccess>>();
+        v.def(py::init<unsigned int>());
+    }
+    v.def("getName", &VecId::getName);
+    v.def("__str__", &VecId::getName);
+}
+
+void moduleAddVecId(py::module& m) {
+
+    // VecType
+    py::enum_<VecType> (m, "VecType")
+        .value("V_ALL", VecType::V_ALL)
+        .value("V_COORD", VecType::V_COORD)
+        .value("V_DERIV", VecType::V_DERIV)
+        .value("V_MATDERIV", VecType::V_MATDERIV)
+        .export_values()
+    ;
+
+    // VecAccess
+    py::enum_<VecAccess> (m, "VecAccess")
+        .value("V_READ", VecAccess::V_READ)
+        .value("V_WRITE", VecAccess::V_WRITE)
+        .export_values()
+    ;
+
+    // BaseVecId
+    py::class_<BaseVecId> (m, "BaseVecId")
+        .def_property_readonly("index", &BaseVecId::getIndex)
+        .def("getIndex", &BaseVecId::getIndex)
+        .def_property_readonly("type", &BaseVecId::getType)
+        .def("getType", &BaseVecId::getType)
+    ;
+
+    // VecId
+    bindVecId<V_ALL, V_READ> (m, "ConstVecId");
+    bindVecId<V_ALL, V_WRITE> (m, "VecId");
+    bindVecId<V_COORD, V_READ> (m, "ConstVecCoordId");
+    bindVecId<V_COORD, V_WRITE>(m, "VecCoordId");
+    bindVecId<V_DERIV, V_READ> (m, "ConstVecDerivId");
+    bindVecId<V_DERIV, V_WRITE>(m, "VecDerivId");
+    bindVecId<V_MATDERIV, V_READ> (m, "ConstMatrixDerivId");
+    bindVecId<V_MATDERIV, V_WRITE>(m, "MatrixDerivId");
+}
+
+} // namespace sofapython3
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VecId.h b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_VecId.h
@@ -0,0 +1,28 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+
+#pragma once
+#include <pybind11/pybind11.h>
+
+namespace sofapython3 {
+
+void moduleAddVecId(pybind11::module &m);
+
+} /// namespace sofapython3
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt b/bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt
@@ -42,6 +42,7 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseData_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseCamera_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VecId.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.h
 )
 
@@ -71,6 +72,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_PythonScriptEvent.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseLink.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VecId.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.cpp
 )
 
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
@@ -42,6 +42,7 @@ using sofa::helper::logging::Message;
 #include <SofaPython3/Sofa/Core/Binding_BaseLink.h>
 #include <SofaPython3/Sofa/Core/Binding_PythonScriptEvent.h>
 #include <SofaPython3/Sofa/Core/Binding_Topology.h>
+#include <SofaPython3/Sofa/Core/Binding_VecId.h>
 #include <SofaPython3/Sofa/Core/Binding_BaseMeshTopology.h>
 
 #include <SofaPython3/Sofa/Core/Data/Binding_DataString.h>
@@ -141,6 +142,7 @@ PYBIND11_MODULE(Core, core)
     moduleAddPrefab(core);
     moduleAddBaseLink(core);
     moduleAddTopology(core);
+    moduleAddVecId(core);
     moduleAddBaseMeshTopology(core);
 }
 
diff --git a/bindings/Sofa/tests/CMakeLists.txt b/bindings/Sofa/tests/CMakeLists.txt
@@ -21,6 +21,7 @@ set(PYTHON_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/MechanicalParams.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/PythonRestShapeForceField.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/BaseLink.py
+    ${CMAKE_CURRENT_SOURCE_DIR}/Core/VecId.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Helper/Message.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Types/RGBAColor.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Types/Vec3.py
diff --git a/bindings/Sofa/tests/Core/VecId.py b/bindings/Sofa/tests/Core/VecId.py
@@ -0,0 +1,149 @@
+import Sofa
+import unittest
+
+
+class VecId(unittest.TestCase):
+    def test_coord(self):
+        # Const Coord
+        vec = Sofa.Core.ConstVecCoordId()
+        self.assertEqual(vec.index, 0)
+        self.assertEqual(vec.getIndex(), 0)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_COORD)
+
+        vec = Sofa.Core.ConstVecCoordId(15)
+        self.assertEqual(vec.index, 15)
+        self.assertEqual(vec.getIndex(), 15)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_COORD)
+
+        # Coord
+        vec = Sofa.Core.VecCoordId()
+        self.assertEqual(vec.index, 0)
+        self.assertEqual(vec.getIndex(), 0)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_COORD)
+
+        vec = Sofa.Core.VecCoordId(15)
+        self.assertEqual(vec.index, 15)
+        self.assertEqual(vec.getIndex(), 15)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_COORD)
+
+    def test_deriv(self):
+        # Const Deriv
+        vec = Sofa.Core.ConstVecDerivId()
+        self.assertEqual(vec.index, 0)
+        self.assertEqual(vec.getIndex(), 0)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_DERIV)
+
+        vec = Sofa.Core.ConstVecDerivId(15)
+        self.assertEqual(vec.index, 15)
+        self.assertEqual(vec.getIndex(), 15)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_DERIV)
+
+        # Deriv
+        vec = Sofa.Core.VecDerivId()
+        self.assertEqual(vec.index, 0)
+        self.assertEqual(vec.getIndex(), 0)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_DERIV)
+
+        vec = Sofa.Core.VecDerivId(15)
+        self.assertEqual(vec.index, 15)
+        self.assertEqual(vec.getIndex(), 15)
+        self.assertEqual(vec.type, Sofa.Core.VecType.V_DERIV)
+
+    def test_default_coord_vectors(self):
+        # Position
+        self.assertEqual(Sofa.Core.VecCoordId.position().index, 1)
+        self.assertEqual(Sofa.Core.VecCoordId.position().getName(), "position(V_COORD)")
+        self.assertEqual(Sofa.Core.ConstVecCoordId.position().index, 1)
+        self.assertEqual(Sofa.Core.ConstVecCoordId.position().getName(), "position(V_COORD)")
+
+        # restPosition
+        self.assertEqual(Sofa.Core.VecCoordId.restPosition().index, 2)
+        self.assertEqual(Sofa.Core.VecCoordId.restPosition().getName(), "restPosition(V_COORD)")
+        self.assertEqual(Sofa.Core.ConstVecCoordId.restPosition().index, 2)
+        self.assertEqual(Sofa.Core.ConstVecCoordId.restPosition().getName(), "restPosition(V_COORD)")
+
+        # freePosition
+        self.assertEqual(Sofa.Core.VecCoordId.freePosition().index, 3)
+        self.assertEqual(Sofa.Core.VecCoordId.freePosition().getName(), "freePosition(V_COORD)")
+        self.assertEqual(Sofa.Core.ConstVecCoordId.freePosition().index, 3)
+        self.assertEqual(Sofa.Core.ConstVecCoordId.freePosition().getName(), "freePosition(V_COORD)")
+
+        # resetPosition
+        self.assertEqual(Sofa.Core.VecCoordId.resetPosition().index, 4)
+        self.assertEqual(Sofa.Core.VecCoordId.resetPosition().getName(), "resetPosition(V_COORD)")
+        self.assertEqual(Sofa.Core.ConstVecCoordId.resetPosition().index, 4)
+        self.assertEqual(Sofa.Core.ConstVecCoordId.resetPosition().getName(), "resetPosition(V_COORD)")
+
+        # Dynamic offset
+        self.assertEqual(Sofa.Core.VecId.getFirstDynamicIndex(Sofa.Core.VecType.V_COORD), 5)
+        self.assertEqual(Sofa.Core.ConstVecId.getFirstDynamicIndex(Sofa.Core.VecType.V_COORD), 5)
+
+    def test_default_deriv_vectors(self):
+        # velocity
+        self.assertEqual(Sofa.Core.VecDerivId.velocity().index, 1)
+        self.assertEqual(Sofa.Core.VecDerivId.velocity().getName(), "velocity(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.velocity().index, 1)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.velocity().getName(), "velocity(V_DERIV)")
+
+        # resetVelocity
+        self.assertEqual(Sofa.Core.VecDerivId.resetVelocity().index, 2)
+        self.assertEqual(Sofa.Core.VecDerivId.resetVelocity().getName(), "resetVelocity(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.resetVelocity().index, 2)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.resetVelocity().getName(), "resetVelocity(V_DERIV)")
+
+        # freeVelocity
+        self.assertEqual(Sofa.Core.VecDerivId.freeVelocity().index, 3)
+        self.assertEqual(Sofa.Core.VecDerivId.freeVelocity().getName(), "freeVelocity(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.freeVelocity().index, 3)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.freeVelocity().getName(), "freeVelocity(V_DERIV)")
+
+        # normal
+        self.assertEqual(Sofa.Core.VecDerivId.normal().index, 4)
+        self.assertEqual(Sofa.Core.VecDerivId.normal().getName(), "normal(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.normal().index, 4)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.normal().getName(), "normal(V_DERIV)")
+
+        # force
+        self.assertEqual(Sofa.Core.VecDerivId.force().index, 5)
+        self.assertEqual(Sofa.Core.VecDerivId.force().getName(), "force(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.force().index, 5)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.force().getName(), "force(V_DERIV)")
+
+        # externalForce
+        self.assertEqual(Sofa.Core.VecDerivId.externalForce().index, 6)
+        self.assertEqual(Sofa.Core.VecDerivId.externalForce().getName(), "externalForce(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.externalForce().index, 6)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.externalForce().getName(), "externalForce(V_DERIV)")
+
+        # dx
+        self.assertEqual(Sofa.Core.VecDerivId.dx().index, 7)
+        self.assertEqual(Sofa.Core.VecDerivId.dx().getName(), "dx(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.dx().index, 7)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.dx().getName(), "dx(V_DERIV)")
+
+        # dforce
+        self.assertEqual(Sofa.Core.VecDerivId.dforce().index, 8)
+        self.assertEqual(Sofa.Core.VecDerivId.dforce().getName(), "dforce(V_DERIV)")
+        self.assertEqual(Sofa.Core.ConstVecDerivId.dforce().index, 8)
+        self.assertEqual(Sofa.Core.ConstVecDerivId.dforce().getName(), "dforce(V_DERIV)")
+
+        # Dynamic offset
+        self.assertEqual(Sofa.Core.VecId.getFirstDynamicIndex(Sofa.Core.VecType.V_DERIV), 9)
+        self.assertEqual(Sofa.Core.ConstVecId.getFirstDynamicIndex(Sofa.Core.VecType.V_DERIV), 9)
+
+    def test_default_matderiv_vectors(self):
+        # constraintJacobian
+        self.assertEqual(Sofa.Core.MatrixDerivId.constraintJacobian().index, 1)
+        self.assertEqual(Sofa.Core.MatrixDerivId.constraintJacobian().getName(), "holonomic(V_MATDERIV)")
+        self.assertEqual(Sofa.Core.ConstMatrixDerivId.constraintJacobian().index, 1)
+        self.assertEqual(Sofa.Core.ConstMatrixDerivId.constraintJacobian().getName(), "holonomic(V_MATDERIV)")
+
+        # mappingJacobian
+        self.assertEqual(Sofa.Core.MatrixDerivId.mappingJacobian().index, 2)
+        self.assertEqual(Sofa.Core.MatrixDerivId.mappingJacobian().getName(), "nonHolonomic(V_MATDERIV)")
+        self.assertEqual(Sofa.Core.ConstMatrixDerivId.mappingJacobian().index, 2)
+        self.assertEqual(Sofa.Core.ConstMatrixDerivId.mappingJacobian().getName(), "nonHolonomic(V_MATDERIV)")
+
+        # Dynamic offset
+        self.assertEqual(Sofa.Core.VecId.getFirstDynamicIndex(Sofa.Core.VecType.V_MATDERIV), 3)
+        self.assertEqual(Sofa.Core.ConstVecId.getFirstDynamicIndex(Sofa.Core.VecType.V_MATDERIV), 3)

Original file line number	Diff line number	Diff line change
`@@ -42,6 +42,7 @@ set(HEADER_FILES`
`42`	`42`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseData_doc.h`
`43`	`43`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseCamera_doc.h`
`44`	`44`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.h`
	`45`	`+ ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VecId.h`
`45`	`46`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.h`
`46`	`47`	`)`
`47`	`48`
`@@ -71,6 +72,7 @@ set(SOURCE_FILES`
`71`	`72`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_PythonScriptEvent.cpp`
`72`	`73`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseLink.cpp`
`73`	`74`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_Topology.cpp`
	`75`	`+ ${CMAKE_CURRENT_SOURCE_DIR}/Binding_VecId.cpp`
`74`	`76`	`${CMAKE_CURRENT_SOURCE_DIR}/Binding_BaseMeshTopology.cpp`
`75`	`77`	`)`
`76`	`78`