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Introduce bindings for SceneCheck (sofa-framework#508)
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‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheck.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 <SofaPython3/Sofa/Simulation/Binding_SceneCheck.h>
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#include <SofaPython3/Sofa/Simulation/Binding_SceneCheck_doc.h>
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#include <sofa/simulation/SceneCheck.h>
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namespace sofapython3
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{
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namespace py { using namespace pybind11; }
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void moduleAddSceneCheck(pybind11::module &m)
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{
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// create a python binding for the C++ class LinearSpring from SofaDeformable
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py::class_<sofa::simulation::SceneCheck, std::shared_ptr<sofa::simulation::SceneCheck>> s
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(m, "SceneCheck", sofapython3::doc::simulation::SceneCheckClass);
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s.def("getName", &sofa::simulation::SceneCheck::getName, sofapython3::doc::simulation::SceneCheck_getName);
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s.def("getDesc", &sofa::simulation::SceneCheck::getDesc, sofapython3::doc::simulation::SceneCheck_getDesc);
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}
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}

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheck.h‎

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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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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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void moduleAddSceneCheck(pybind11::module& m);
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} // namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry.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 <SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry.h>
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#include <SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry_doc.h>
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#include <sofa/simulation/SceneCheckMainRegistry.h>
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#include <pybind11/stl.h>
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namespace sofapython3
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{
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namespace py { using namespace pybind11; }
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void moduleAddSceneCheckMainRegistry(pybind11::module &m)
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{
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py::class_<sofa::simulation::SceneCheckMainRegistry> registry (m, "SceneCheckMainRegistry",
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sofapython3::doc::simulation::SceneCheckMainRegistryClass);
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registry.def_static("getRegisteredSceneChecks",
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[]() {
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return std::vector(sofa::simulation::SceneCheckMainRegistry::getRegisteredSceneChecks());
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},
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sofapython3::doc::simulation::SceneCheckMainRegistry_getRegisteredSceneChecks);
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}
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} // namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry.h‎

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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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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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void moduleAddSceneCheckMainRegistry(pybind11::module& m);
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} // namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry_doc.h‎

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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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#pragma once
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namespace sofapython3::doc::simulation
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{
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static auto SceneCheckMainRegistryClass = "The main registry containing verification checks on a scene.";
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static auto SceneCheckMainRegistry_getRegisteredSceneChecks = "Returns all the verification checks registered into the main registry.";
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}

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Binding_SceneCheck_doc.h‎

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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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#pragma once
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namespace sofapython3::doc::simulation
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{
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static auto SceneCheckClass = "A verification check on a scene.";
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static auto SceneCheck_getName = "Returns the name of the verification check.";
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static auto SceneCheck_getDesc = "Returns the description of the verification check.";
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}

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

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set(HEADER_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Submodule_Simulation_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheck.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheck_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheckMainRegistry.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheckMainRegistry_doc.h
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)
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set(SOURCE_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Submodule_Simulation.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheck.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SceneCheckMainRegistry.cpp
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)
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if (NOT TARGET SofaPython3::Plugin)

‎bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp‎

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#include <sofa/core/visual/VisualParams.h>
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#include <sofa/core/visual/VisualLoop.h>
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#include <SofaPython3/Sofa/Simulation/Submodule_Simulation_doc.h>
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#include <SofaPython3/Sofa/Simulation/Binding_SceneCheck.h>
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#include <SofaPython3/Sofa/Simulation/Binding_SceneCheckMainRegistry.h>
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#include <sofa/core/init.h>
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#include <sofa/simulation/init.h>
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simulation.doc() =sofapython3::doc::simulation::Class;
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moduleAddSceneCheck(simulation);
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moduleAddSceneCheckMainRegistry(simulation);
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simulation.def("print", [](Node* n){ sofa::simulation::node::print(n); }, sofapython3::doc::simulation::print);
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simulation.def("animate", [](Node* n, SReal dt=0.0){ sofa::simulation::node::animate(n, dt); },sofapython3::doc::simulation::animate);
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simulation.def("init", [](Node* n){ sofa::simulation::node::init(n); }, sofapython3::doc::simulation::init);

‎examples/scene_check.py‎

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import Sofa
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import SofaRuntime
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def main():
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# Make sure to load all necessary libraries
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SofaRuntime.importPlugin("Sofa.Component.StateContainer")
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# This is important to register the scene checks contained in this plugin into the registry
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SofaRuntime.importPlugin("SceneChecking")
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for scene_check in Sofa.Simulation.SceneCheckMainRegistry.getRegisteredSceneChecks():
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print(f"{scene_check.getName()}: {scene_check.getDesc()}")
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# Call the above function to create the scene graph
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root = Sofa.Core.Node("root")
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createScene(root)
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# Once defined, initialization of the scene graph
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Sofa.Simulation.initRoot(root)
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# Function called when the scene graph is being created
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def createScene(root):
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root.addObject('RequiredPlugin', name='Sofa.Component.StateContainer')
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# Scene must now include a AnimationLoop
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root.addObject('DefaultAnimationLoop')
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# Add new nodes and objects in the scene
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node1 = root.addChild("Node1")
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node2 = root.addChild("Node2")
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node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="1")
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node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1 0 0 0 1", showObject="1")
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return root
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if __name__ == '__main__':
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main()

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