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damienmarchaldamienmarchal
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Add python binding for Mappings (#505)
* WIP for mapping * wip for mapping * Retrieve the target from a linkpath * Add Binding_Mapping * Vec1D * Example with 3 to 1 mapping...
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+488
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‎bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_LinkPath.cpp‎

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@@ -24,6 +24,8 @@ using sofa::core::objectmodel::BaseLink;
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#include <sofa/core/objectmodel/BaseObject.h>
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using sofa::core::objectmodel::BaseObject;
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#include <SofaPython3/PythonFactory.h>
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#include <SofaPython3/Sofa/Core/Binding_LinkPath.h>
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#include <SofaPython3/Sofa/Core/Binding_LinkPath_doc.h>
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@@ -79,6 +81,13 @@ void moduleAddLinkPath(py::module& m)
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py::class_<LinkPath> link(m, "LinkPath", sofapython3::doc::linkpath::linkpath);
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link.def("__str__", &__str__);
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link.def("__repr__", &__repr__);
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link.def("target", [](const LinkPath& entry) -> py::object{
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if(entry.targetData != nullptr)
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return PythonFactory::toPython(entry.targetData);
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else if(entry.targetBase.get() != nullptr)
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return PythonFactory::toPython(entry.targetBase.get());
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return py::none();
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});
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}
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}/// namespace sofapython3

‎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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declareMapping<Vec3dTypes, Vec1dTypes>(m);
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}
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} // namespace sofapython3

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

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@@ -0,0 +1,61 @@
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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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@@ -0,0 +1,29 @@
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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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}

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

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@@ -27,6 +27,8 @@ set(HEADER_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mass_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinkPath.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mass.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_PointSetTopologyModifier.cpp

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

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@@ -37,6 +37,7 @@ using sofa::helper::logging::Message;
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#include <SofaPython3/Sofa/Core/Binding_DataEngine.h>
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#include <SofaPython3/Sofa/Core/Binding_ObjectFactory.h>
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#include <SofaPython3/Sofa/Core/Binding_LinkPath.h>
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#include <SofaPython3/Sofa/Core/Binding_Mapping.h>
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#include <SofaPython3/Sofa/Core/Binding_Node.h>
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#include <SofaPython3/Sofa/Core/Binding_NodeIterator.h>
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#include <SofaPython3/Sofa/Core/Binding_Prefab.h>
@@ -140,11 +141,12 @@ PYBIND11_MODULE(Core, core)
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moduleAddController(core);
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moduleAddDataEngine(core);
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moduleAddForceField(core);
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moduleAddMass(core);
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moduleAddObjectFactory(core);
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moduleAddLinkPath(core);
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moduleAddMapping(core);
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moduleAddMass(core);
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moduleAddNode(core);
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moduleAddNodeIterator(core);
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moduleAddObjectFactory(core);
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moduleAddPrefab(core);
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moduleAddBaseLink(core);
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moduleAddTopology(core);

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