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Add Binding_Mapping
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‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Mapping.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 <pybind11/numpy.h>
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#include <SofaPython3/Sofa/Core/Binding_Base.h>
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#include <SofaPython3/Sofa/Core/Binding_Mapping.h>
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#include <SofaPython3/Sofa/Core/Binding_Mapping_doc.h>
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#include <SofaPython3/PythonFactory.h>
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#include <sofa/core/ConstraintParams.h>
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#include <sofa/core/behavior/MechanicalState.h>
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#include <sofa/core/MechanicalParams.h>
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#include <sofa/core/behavior/DefaultMultiMatrixAccessor.h>
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#include <sofa/linearalgebra/CompressedRowSparseMatrix.h>
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#include <pybind11/eigen.h>
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#include <SofaPython3/PythonEnvironment.h>
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using sofapython3::PythonEnvironment;
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/// Makes an alias for the pybind11 namespace to increase readability.
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namespace py { using namespace pybind11; }
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/// To bring in the `_a` literal
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using namespace pybind11::literals;
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namespace sofapython3
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{
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using sofa::core::Mapping;
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using sofa::core::objectmodel::BaseObject;
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using sofa::core::objectmodel::ComponentState;
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using sofa::core::behavior::MechanicalState;
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using sofa::core::MechanicalParams;
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using sofa::core::behavior::MultiMatrixAccessor;
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using sofa::defaulttype::Vec3dTypes;
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using sofa::defaulttype::Vec2dTypes;
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using sofa::defaulttype::Vec1dTypes;
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using sofa::defaulttype::Vec6dTypes;
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using sofa::defaulttype::Rigid3dTypes;
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using sofa::defaulttype::Rigid2dTypes;
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template<class In, class Out>
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Mapping_Trampoline<In, Out>::Mapping_Trampoline() = default;
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template<class In, class Out>
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Mapping_Trampoline<In, Out>::~Mapping_Trampoline() = default;
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template<class In, class Out>
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std::string Mapping_Trampoline<In, Out>::getClassName() const
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{
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PythonEnvironment::gil acquire {"getClassName"};
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// Get the actual class name from python.
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return py::str(py::cast(this).get_type().attr("__name__"));
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}
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template<class In, class Out>
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void Mapping_Trampoline<In, Out>::init()
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{
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PythonEnvironment::gil acquire;
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Inherit1::init();
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}
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template<class In, class Out>
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void Mapping_Trampoline<In, Out>::apply( const MechanicalParams* mparams, OutDataVecCoord& out, const InDataVecCoord& in){
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PythonEnvironment::gil acquire;
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// pass bFactor, kFactor, energy
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py::dict mp = py::dict("time"_a=this->getContext()->getTime(),
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"mFactor"_a=mparams->mFactor(),
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"bFactor"_a=mparams->bFactor(),
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"kFactor"_a=mparams->kFactor(),
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"isImplicit"_a=mparams->implicit(),
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"energy"_a=mparams->energy());
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PYBIND11_OVERLOAD_PURE(void, Inherit1, apply, mp,
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PythonFactory::toPython(&out), PythonFactory::toPython(&in));
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}
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template<class In, class Out>
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void Mapping_Trampoline<In, Out>::applyJ( const MechanicalParams* mparams, OutDataVecDeriv& out, const InDataVecDeriv& in){
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PythonEnvironment::gil acquire;
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// pass bFactor, kFactor, energy
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py::dict mp = py::dict("time"_a=getContext()->getTime(),
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"mFactor"_a=mparams->mFactor(),
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"bFactor"_a=mparams->bFactor(),
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"kFactor"_a=mparams->kFactor(),
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"isImplicit"_a=mparams->implicit(),
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"energy"_a=mparams->energy());
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PYBIND11_OVERLOAD_PURE(void, Inherit1, applyJ, mp,
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PythonFactory::toPython(&out), PythonFactory::toPython(&in));
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}
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template<class In, class Out>
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void Mapping_Trampoline<In, Out>::applyJT( const MechanicalParams* mparams, InDataVecDeriv& out, const OutDataVecDeriv& in){
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PythonEnvironment::gil acquire;
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py::dict mp = py::dict("time"_a=getContext()->getTime(),
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"mFactor"_a=mparams->mFactor(),
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"bFactor"_a=mparams->bFactor(),
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"kFactor"_a=mparams->kFactor(),
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"isImplicit"_a=mparams->implicit(),
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"energy"_a=mparams->energy());
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PYBIND11_OVERLOAD_PURE(void, Inherit1, applyJT, mp,
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PythonFactory::toPython(&out), PythonFactory::toPython(&in));
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}
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template<class In, class Out>
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void Mapping_Trampoline<In, Out>::applyJT( const ConstraintParams* cparams,
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InDataMatrixDeriv& out, const OutDataMatrixDeriv& in)
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{
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PythonEnvironment::gil acquire;
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py::dict mp = py::dict("time"_a=getContext()->getTime());
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PYBIND11_OVERLOAD_PURE(void, Inherit1, applyConstrainsJT, mp,
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PythonFactory::toPython(&out), PythonFactory::toPython(&in));
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}
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template<class In, class Out>
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void declareMapping(py::module &m) {
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const std::string pyclass_name = std::string("Mapping_") + In::Name()+ "_" + Out::Name();
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py::class_<Mapping<In, Out>, BaseObject, Mapping_Trampoline<In, Out>,
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py_shared_ptr<Mapping<In, Out>>> f(m, pyclass_name.c_str(), py::dynamic_attr(), py::multiple_inheritance(),
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sofapython3::doc::mapping::mappingClass);
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f.def(py::init([](py::args &args, py::kwargs &kwargs) {
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auto ff = sofa::core::sptr<Mapping_Trampoline<In, Out>> (new Mapping_Trampoline<In, Out>());
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ff->f_listening.setValue(true);
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if (args.size() == 1)
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ff->setName(py::cast<std::string>(args[0]));
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py::object cc = py::cast(ff);
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for (auto kv : kwargs) {
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std::string key = py::cast<std::string>(kv.first);
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py::object value = py::reinterpret_borrow<py::object>(kv.second);
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if (key == "name") {
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if (args.size() != 0) {
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throw py::type_error("The name is set twice as a "
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"named argument='" + py::cast<std::string>(value) + "' and as a"
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"positional argument='" +
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py::cast<std::string>(args[0]) + "'.");
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}
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}
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BindingBase::SetAttr(cc, key, value);
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}
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return ff;
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}));
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}
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void moduleAddMapping(py::module &m) {
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declareMapping<Rigid3dTypes, Vec3dTypes>(m);
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declareMapping<Vec3dTypes, Vec3dTypes>(m);
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}
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} // namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Mapping.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 <sofa/core/BaseMapping.h>
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#include <sofa/core/Mapping.h>
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#include <sofa/defaulttype/VecTypes.h>
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#include <sofa/core/MechanicalParams.h>
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#include <pybind11/pybind11.h>
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namespace sofapython3 {
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using sofa::core::ConstraintParams;
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using sofa::core::MechanicalParams;
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template<class In, class Out>
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class Mapping_Trampoline : public sofa::core::Mapping<In, Out> {
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public:
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SOFA_CLASS(SOFA_TEMPLATE2(Mapping_Trampoline, In, Out) ,
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SOFA_TEMPLATE2(sofa::core::Mapping, In, Out));
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using sofa::core::Mapping<In,Out>::getContext;
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using typename sofa::core::Mapping<In,Out>::OutDataVecCoord;
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using typename sofa::core::Mapping<In,Out>::OutDataVecDeriv;
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using typename sofa::core::Mapping<In,Out>::InDataVecCoord;
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using typename sofa::core::Mapping<In,Out>::InDataVecDeriv;
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using typename sofa::core::Mapping<In,Out>::OutDataMatrixDeriv;
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using typename sofa::core::Mapping<In,Out>::InDataMatrixDeriv;
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Mapping_Trampoline();
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~Mapping_Trampoline() override;
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void init() override;
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std::string getClassName() const override;
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void apply( const MechanicalParams* mparams, OutDataVecCoord& out, const InDataVecCoord& in) override;
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void applyJ( const MechanicalParams* mparams, OutDataVecDeriv& out, const InDataVecDeriv& in) override;
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void applyJT( const MechanicalParams* mparams, InDataVecDeriv& out, const OutDataVecDeriv& in) override;
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void applyJT( const ConstraintParams* mparams, InDataMatrixDeriv& out, const OutDataMatrixDeriv& in) override;
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};
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void moduleAddMapping(pybind11::module &m);
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} /// namespace sofapython3

‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Mapping_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::mapping
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{
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static auto mappingClass = R"(
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Overridable class to create your own customized mapping
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)";
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}

‎examples/example-mapping.py‎

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"""Implementation of an identity mapping in python"""
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# coding: utf8
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import Sofa
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import numpy as np
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class IdentityMapping(Sofa.Core.Mapping_Vec3d_Vec3d):
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"""Implementation of a Mapping in python"""
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def __init__(self, *args, **kwargs):
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## This is just an ugly trick to transform pointer to object into sofa linkpath.
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for k,v in kwargs.items():
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if k == "input":
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kwargs[k] = v.linkpath
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elif k == "output":
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kwargs[k] = v.linkpath
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Sofa.Core.Mapping_Vec3d_Vec3d.__init__(self, *args, **kwargs)
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# let's compute the positions initial delta.
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input_position = kwargs["input"].target().position.value.copy()
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output_position = kwargs["output"].target().position.value.copy()
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self.delta = output_position - input_position
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def apply(self, m, outCoord, inCoord):
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print("PYTHON(🐍) APPLY ", outCoord, inCoord)
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with outCoord.writeableArray() as wa:
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wa[:] = inCoord.value + self.delta
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def applyJ(self, m, outDeriv, inDeriv):
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print("PYTHON(🐍) APPLY-J", outDeriv, inDeriv)
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def applyJT(self, m, outDeriv, inDeriv):
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print("PYTHON(🐍) APPLY-JT", outDeriv, inDeriv)
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def applyConstrainsJT(self, m, outDeriv, inDeriv):
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print("PYTHON(🐍) APPLY-JT for constraints, data are [⋱]", m, outDeriv, inDeriv)
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print("Constraints ", inDeriv.value)
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def createScene(root):
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root.addObject("RequiredPlugin", pluginName=["Sofa.GL.Component",
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"Sofa.Component.ODESolver.Backward",
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"Sofa.Component.LinearSolver.Direct",
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"Sofa.Component.LinearSolver.Iterative",
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"Sofa.Component.Mass",
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"Sofa.Component.StateContainer",
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"Sofa.Component.Visual"
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])
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root.addObject("LineAxis")
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root.addObject("DefaultAnimationLoop", name="loop")
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root.addChild("Modelling")
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######### OBJECT #####################
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o = root.Modelling.addChild("Object")
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c = o.addObject("MechanicalObject", name="mechanical", position=[0.0,0.0,0.0, 1.0,0.0,0.0])
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c.showObject = True
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c.showColor = [1.0,0.0,0.0,1.0]
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c.drawMode = 1
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o.addObject("UniformMass", name="mass", totalMass=1.0)
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######### OBJECT #####################
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m = o.addChild("MappedDof")
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sm = m.addObject("MechanicalObject", name="mapped_quantities", position=[0.0,0.5,0.0, 1.0, 0.5, 0.0])
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sm.showObject = True
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sm.showColor = [1.0,0.0,1.0,0.7]
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sm.drawMode = 1
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m.addObject( IdentityMapping(name="CPPObject", input=c, output=sm ) )
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root.addChild("Simulation")
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root.Simulation.addObject("EulerImplicitSolver")
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root.Simulation.addObject("CGLinearSolver", tolerance=1e-12, threshold=1e-12, iterations=25)
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root.Simulation.addChild(root.Modelling)
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return root
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def main():
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import SofaRuntime
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import Sofa.Gui
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import SofaQt
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root=Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.initRoot(root)
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Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
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Sofa.Gui.GUIManager.createGUI(root, __file__)
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Sofa.Gui.GUIManager.SetDimension(1080, 1080)
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Sofa.Gui.GUIManager.MainLoop(root)
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Sofa.Gui.GUIManager.closeGUI()
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print("End of simulation.")
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if __name__ == '__main__':
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main()

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