Expose CPU VBD integrator to Python

Author: Q-Minh

bindings/pypbat/CMakeLists.txt

@@ -8,6 +8,7 @@ add_subdirectory(geometry)
 add_subdirectory(gpu)
 add_subdirectory(math)
 add_subdirectory(profiling)
+add_subdirectory(sim)
 
 target_link_libraries(PhysicsBasedAnimationToolkit_Python
     PRIVATE

bindings/pypbat/PythonBindings.cpp

@@ -3,6 +3,7 @@
 #include "gpu/Gpu.h"
 #include "math/Math.h"
 #include "profiling/Profiling.h"
+#include "sim/Sim.h"
 
 #include <pybind11/pybind11.h>
 
@@ -16,8 +17,11 @@ PYBIND11_MODULE(_pbat, m)
     pbat::py::fem::Bind(mfem);
     auto mgeometry = m.def_submodule("geometry");
     pbat::py::geometry::Bind(mgeometry);
-    auto mgpu = m.def_submodule("gpu");
-    pbat::py::gpu::Bind(mgpu);
     auto mmath = m.def_submodule("math");
     pbat::py::math::Bind(mmath);
+    auto msim = m.def_submodule("sim");
+    pbat::py::sim::Bind(msim);
+    // Bind GPU module at the end, since it is layered on top of non-GPU modules
+    auto mgpu = m.def_submodule("gpu");
+    pbat::py::gpu::Bind(mgpu);
 }

bindings/pypbat/gpu/geometry/Geometry.h

@@ -1,5 +1,5 @@
-#ifndef PYPBAT_GPU_GEOMETRY_H
-#define PYPBAT_GPU_GEOMETRY_H
+#ifndef PYPBAT_GPU_GEOMETRY_GEOMETRY_H
+#define PYPBAT_GPU_GEOMETRY_GEOMETRY_H
 
 #include <pybind11/pybind11.h>
 
@@ -15,4 +15,4 @@ void Bind(pybind11::module& m);
 } // namespace py
 } // namespace pbat
 
-#endif // PYPBAT_GPU_GEOMETRY_H
+#endif // PYPBAT_GPU_GEOMETRY_GEOMETRY_H

bindings/pypbat/gpu/vbd/Vbd.cpp

@@ -22,14 +22,6 @@ void Bind([[maybe_unused]] pybind11::module& m)
     using pbat::sim::vbd::EInitializationStrategy;
     using pbat::gpu::vbd::Vbd;
 
-    pyb::enum_<EInitializationStrategy>(m, "InitializationStrategy")
-        .value("Position", EInitializationStrategy::Position)
-        .value("Inertia", EInitializationStrategy::Inertia)
-        .value("KineticEnergyMinimum", EInitializationStrategy::KineticEnergyMinimum)
-        .value("AdaptiveVbd", EInitializationStrategy::AdaptiveVbd)
-        .value("AdaptivePbat", EInitializationStrategy::AdaptivePbat)
-        .export_values();
-
     pyb::class_<Vbd>(m, "Vbd")
         .def(
             pyb::init([](Eigen::Ref<GpuMatrixX const> const& X,

bindings/pypbat/gpu/vbd/Vbd.h

@@ -1,5 +1,5 @@
-#ifndef PYPBAT_GPU_VBD_H
-#define PYPBAT_GPU_VBD_H
+#ifndef PYPBAT_GPU_VBD_VBD_H
+#define PYPBAT_GPU_VBD_VBD_H
 
 #include <pybind11/pybind11.h>
 
@@ -15,4 +15,4 @@ void Bind(pybind11::module& m);
 } // namespace py
 } // namespace pbat
 
-#endif // PYPBAT_GPU_VBD_H
+#endif // PYPBAT_GPU_VBD_VBD_H

bindings/pypbat/gpu/xpbd/Xpbd.h

@@ -1,5 +1,5 @@
-#ifndef PYPBAT_GPU_XPBD_H
-#define PYPBAT_GPU_XPBD_H
+#ifndef PYPBAT_GPU_XPBD_XPBD_H
+#define PYPBAT_GPU_XPBD_XPBD_H
 
 #include <pybind11/pybind11.h>
 
@@ -15,4 +15,4 @@ void Bind(pybind11::module& m);
 } // namespace py
 } // namespace pbat
 
-#endif // PYPBAT_GPU_XPBD_H
+#endif // PYPBAT_GPU_XPBD_XPBD_H

bindings/pypbat/sim/CMakeLists.txt

@@ -0,0 +1,12 @@
+target_sources(PhysicsBasedAnimationToolkit_Python
+    PUBLIC
+    FILE_SET api
+    FILES
+    "Sim.h"
+)
+target_sources(PhysicsBasedAnimationToolkit_Python
+    PRIVATE
+    "Sim.cpp"
+)
+add_subdirectory(vbd)
+add_subdirectory(xpbd)

bindings/pypbat/sim/Sim.cpp

@@ -0,0 +1,22 @@
+#include "Sim.h"
+
+#include "vbd/Vbd.h"
+#include "xpbd/Xpbd.h"
+
+namespace pbat {
+namespace py {
+namespace sim {
+
+void Bind(pybind11::module& m)
+{
+    namespace pyb = pybind11;
+
+    auto mxpbd = m.def_submodule("xpbd");
+    xpbd::Bind(mxpbd);
+    auto mvbd = m.def_submodule("vbd");
+    vbd::Bind(mvbd);
+}
+
+} // namespace sim
+} // namespace py
+} // namespace pbat

bindings/pypbat/sim/Sim.h

@@ -0,0 +1,16 @@
+#ifndef PYPBAT_SIM_SIM_H
+#define PYPBAT_SIM_SIM_H
+
+#include <pybind11/pybind11.h>
+
+namespace pbat {
+namespace py {
+namespace sim {
+
+void Bind(pybind11::module& m);
+
+} // namespace sim
+} // namespace py
+} // namespace pbat
+
+#endif // PYPBAT_SIM_SIM_H

bindings/pypbat/sim/vbd/CMakeLists.txt

@@ -0,0 +1,15 @@
+target_sources(PhysicsBasedAnimationToolkit_Python
+    PUBLIC
+    FILE_SET api
+    FILES
+    "Data.h"
+    "Integrator.h"
+    "Vbd.h"
+)
+
+target_sources(PhysicsBasedAnimationToolkit_Python
+    PRIVATE
+    "Data.cpp"
+    "Integrator.cpp"
+    "Vbd.cpp"
+)