[Bindings] Add MechanicalParams bindings

Signed-off-by: Jean-Nicolas Brunet <[email protected]>

Author: jnbrunet

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_MechanicalParams.cpp

@@ -0,0 +1,63 @@
+/******************************************************************************
+*                              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: [email protected]                             *
+******************************************************************************/
+
+#include <SofaPython3/Sofa/Core/Binding_MechanicalParams.h>
+#include <SofaPython3/Sofa/Core/Binding_MechanicalParams_doc.h>
+#include <sofa/core/MechanicalParams.h>
+
+namespace py { using namespace pybind11; }
+
+namespace sofapython3 {
+
+void moduleAddMechanicalParams(py::module& m) {
+    using namespace sofa::core;
+    py::class_<MechanicalParams> c (m, "MechanicalParams", doc::mechanicalparams::MechanicalParamsClass);
+    c.def(py::init());
+
+    // Dt
+    c.def_property("dt", &MechanicalParams::dt, &MechanicalParams::setDt);
+    c.def("setDt", &MechanicalParams::setDt, py::arg("dt"));
+
+    // Implicit
+    c.def_property("implicit", &MechanicalParams::implicit, &MechanicalParams::setImplicit, "Specify if the time integration scheme is implicit.");
+    c.def("setImplicit", &MechanicalParams::setImplicit, py::arg("v"), "Specify if the time integration scheme is implicit.");
+
+    // Mass factor
+    c.def_property("mFactor", &MechanicalParams::mFactor, &MechanicalParams::setMFactor, "Set Mass matrix contributions factor (for implicit schemes).");
+    c.def("setMFactor", &MechanicalParams::setMFactor, py::arg("m"), "Set Mass matrix contributions factor (for implicit schemes).");
+
+    // Damping factor
+    c.def_property("bFactor", &MechanicalParams::bFactor, &MechanicalParams::setBFactor, "Set Damping matrix contributions factor (for implicit schemes).");
+    c.def("setBFactor", &MechanicalParams::setBFactor, py::arg("b"), "Set Damping matrix contributions factor (for implicit schemes).");
+
+    // Stiffness factor
+    c.def_property("kFactor", &MechanicalParams::kFactor, &MechanicalParams::setKFactor, "Set Stiffness matrix contributions factor (for implicit schemes).");
+    c.def("setKFactor", &MechanicalParams::setKFactor, py::arg("k"), "Set Stiffness matrix contributions factor (for implicit schemes).");
+
+    // Symmetric
+    c.def_property("symmetricMatrix", &MechanicalParams::symmetricMatrix, &MechanicalParams::setSymmetricMatrix, "Set the symmetric matrix flag (for implicit schemes), for solvers specialized on symmetric matrices");
+    c.def("setSymmetricMatrix", &MechanicalParams::setSymmetricMatrix, "Set the symmetric matrix flag (for implicit schemes), for solvers specialized on symmetric matrices");
+
+    // Energy
+    c.def_property("energy", &MechanicalParams::energy, &MechanicalParams::setEnergy, "Specify if the potential and kinematic energies should be computed.");
+    c.def("setEnergy", &MechanicalParams::setEnergy, "Specify if the potential and kinematic energies should be computed.");
+}
+
+} // namespace sofapython3

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_MechanicalParams.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: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+#include <pybind11/pybind11.h>
+
+namespace sofapython3 {
+
+void moduleAddMechanicalParams(pybind11::module &m);
+
+} /// namespace sofapython3

bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_MechanicalParams_doc.h

@@ -0,0 +1,32 @@
+/******************************************************************************
+*                              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: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+
+namespace sofapython3::doc::mechanicalparams
+{
+
+static auto MechanicalParamsClass =
+R"(
+Class gathering parameters use by mechanical components methods, and transmitted by mechanical visitors
+)";
+
+
+}

bindings/Sofa/src/SofaPython3/Sofa/Core/CMakeLists.txt

@@ -22,6 +22,8 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory_doc.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.h
@@ -61,6 +63,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Data/Binding_DataVectorString.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ForceField.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_MechanicalParams.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Prefab.cpp

bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp

@@ -35,6 +35,7 @@ using sofa::helper::logging::Message;
 #include <SofaPython3/Sofa/Core/Binding_Controller.h>
 #include <SofaPython3/Sofa/Core/Binding_DataEngine.h>
 #include <SofaPython3/Sofa/Core/Binding_ObjectFactory.h>
+#include <SofaPython3/Sofa/Core/Binding_MechanicalParams.h>
 #include <SofaPython3/Sofa/Core/Binding_Node.h>
 #include <SofaPython3/Sofa/Core/Binding_NodeIterator.h>
 #include <SofaPython3/Sofa/Core/Binding_Prefab.h>
@@ -134,6 +135,7 @@ PYBIND11_MODULE(Core, core)
     moduleAddDataEngine(core);
     moduleAddForceField(core);
     moduleAddObjectFactory(core);
+    moduleAddMechanicalParams(core);
     moduleAddNode(core);
     moduleAddNodeIterator(core);
     moduleAddPrefab(core);

bindings/Sofa/tests/CMakeLists.txt

@@ -18,6 +18,7 @@ set(PYTHON_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/ForceField.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/DataEngine.py
     ${CMAKE_CURRENT_SOURCE_DIR}/Core/MyRestShapeForceField.py
+    ${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}/Helper/Message.py

bindings/Sofa/tests/Core/MechanicalParams.py

@@ -0,0 +1,49 @@
+import Sofa
+import unittest
+
+
+class Test(unittest.TestCase):
+    def test_creation(self):
+        mparams = Sofa.Core.MechanicalParams()
+
+        # dt
+        mparams.dt = 1.25
+        self.assertEqual(mparams.dt, 1.25)
+        mparams.setDt(1.50)
+        self.assertEqual(mparams.dt, 1.50)
+
+        # Implicit
+        mparams.implicit = True
+        self.assertTrue(mparams.implicit)
+        mparams.setImplicit(False)
+        self.assertFalse(mparams.implicit)
+
+        # Mass factor
+        mparams.mFactor = 1.30
+        self.assertEqual(mparams.mFactor, 1.30)
+        mparams.setMFactor(1.35)
+        self.assertEqual(mparams.mFactor, 1.35)
+
+        # Damping factor
+        mparams.bFactor = 1.35
+        self.assertEqual(mparams.bFactor, 1.35)
+        mparams.setBFactor(1.40)
+        self.assertEqual(mparams.bFactor, 1.40)
+
+        # Stiffness factor
+        mparams.kFactor = 1.45
+        self.assertEqual(mparams.kFactor, 1.45)
+        mparams.setKFactor(1.50)
+        self.assertEqual(mparams.kFactor, 1.50)
+
+        # Symmetric
+        mparams.symmetricMatrix = True
+        self.assertTrue(mparams.symmetricMatrix)
+        mparams.setSymmetricMatrix(False)
+        self.assertFalse(mparams.symmetricMatrix)
+
+        # Energy
+        mparams.energy = True
+        self.assertTrue(mparams.energy)
+        mparams.setEnergy(False)
+        self.assertFalse(mparams.energy)