[Prefabs] cleaning to fix deformable example (#549)

* cleaning to fix deformable example

* Restore checks on name and add check on the presence of parameters

* Allow to use default parameters (passing nothing to the add method except the class name

---------

Co-authored-by: Paul Baksic <[email protected]>

Author: EulalieCoevoet

splib/mechanics/mass.py

@@ -11,13 +11,13 @@ def addMass(node, elem:ElementType, totalMass=DEFAULT_VALUE, massDensity=DEFAULT
         print("[warning] You defined the totalMass and the massDensity in the same time, only taking massDensity into account")
         del kwargs["massDensity"]
 
-    if(elem !=ElementType.POINTS and elem !=ElementType.EDGES):
-        node.addObject("MeshMatrixMass",name="mass", totalMass=totalMass, massDensity=massDensity, lumping=lumping, **kwargs)
-    else:
-        if (not isDefault(massDensity)) :
-            print("[warning] mass density can only be used on a surface or volumetric topology. Please use totalMass instead")
-        if (not isDefault(lumping)) :
-            print("[warning] lumping can only be set for surface or volumetric topology")
+    # if(elem !=ElementType.POINTS and elem !=ElementType.EDGES):
+    #     node.addObject("MeshMatrixMass",name="mass", totalMass=totalMass, massDensity=massDensity, lumping=lumping, **kwargs)
+    # else:
+    #     if (not isDefault(massDensity)) :
+    #         print("[warning] mass density can only be used on a surface or volumetric topology. Please use totalMass instead")
+    #     if (not isDefault(lumping)) :
+    #         print("[warning] lumping can only be set for surface or volumetric topology")
 
-        node.addObject("UniformMass",name="mass", totalMass=totalMass, **kwargs)
+    node.addObject("UniformMass",name="mass", totalMass=totalMass, **kwargs)
 

stlib/__init__.py

@@ -1,6 +1,8 @@
 __all__ = ["core","entities","geometries","materials","collision","visual"]
 
 import Sofa.Core
+from stlib.core.basePrefab import BasePrefab
+
 def __genericAdd(self : Sofa.Core.Node, typeName, **kwargs):
     def findName(cname, names):
         """Compute a working unique name in the node"""
@@ -11,37 +13,47 @@ def findName(cname, names):
             rname = cname + str(i+1)
         return rname
 
+
+    def checkName(context : Sofa.Core.Node, name):
+        # Check if the name already exists, if this happens, create a new one.
+        if name in context.children or name in context.objects:
+            names = {node.name.value for node in context.children}
+            names = names.union({object.name.value for object in context.objects})
+            name = findName(name, names)
+        return name
+
+
     # Check if a name is provided, if not, use the one of the class
     params = kwargs.copy()
-    isNode = False
-    if "name" not in params:
+    if isinstance(typeName, type) and issubclass(typeName, BasePrefab): #Only for prefabs
+        if len(params.keys()) > 1 or (len(params.keys()) == 1 and "parameters" not in params):
+            raise RuntimeError("Invalid argument, a prefab takes only the \"parameters\" kwargs as input")
+
+    elif "name" not in params : #This doesn't apply to prefab
         if isinstance(typeName, str):
             params["name"] = typeName
-            isNode=True
         elif isinstance(typeName, type) and issubclass(typeName, Sofa.Core.Node):
-            params["name"] = "Node"
-            isNode=True
+            params["name"] = typeName.__name__
         elif isinstance(typeName, Sofa.Core.Node):
             params["name"] = "Node"
-            isNode=True
         elif isinstance(typeName, type) and issubclass(typeName, Sofa.Core.Object):
             params["name"] = typeName.name.value
         elif isinstance(typeName, type) and issubclass(typeName, Sofa.Core.ObjectDeclaration):
             params["name"] = typeName.__name__
         else:
             raise RuntimeError("Invalid argument ", typeName)
 
-    # Check if the name already exists, if this happens, create a new one.
-    if params["name"] in self.children or params["name"] in self.objects:
-        names = {node.name.value for node in self.children}
-        names = names.union({object.name.value for object in self.objects})
-        params["name"] = findName(params["name"], names)
+    if isinstance(typeName, type) and issubclass(typeName, BasePrefab) and len(params.keys()) == 1:
+        params["parameters"].name = checkName(self, params["parameters"].name)
+    else:
+        params["name"] = checkName(self, params["name"])
 
     # Dispatch the creation to either addObject or addChild
-    if isinstance(typeName, type) and issubclass(typeName, Sofa.Core.Node):
-        pref = self.addChild(typeName(params["name"]))
+    if isinstance(typeName, type) and issubclass(typeName, BasePrefab):
+        pref = self.addChild(typeName(**params))
+        pref.init()
     elif isinstance(typeName, Sofa.Core.Node):
-        pref = self.addChild(typeName)
+        pref = self.addChild(typeName(**params))
     elif isinstance(typeName, type) and issubclass(typeName, Sofa.Core.Object):
         pref = self.addObject(typeName(**params))
     elif isinstance(typeName, type) and issubclass(typeName, Sofa.Core.ObjectDeclaration):

stlib/core/basePrefab.py

@@ -8,9 +8,9 @@ class BasePrefab(Sofa.Core.Node):
     A Prefab is a Sofa.Node that assembles a set of components and nodes
     """
 
-    def __init__(self, params: BasePrefabParameters):
-        Sofa.Core.Node.__init__(self, name=params.name)
-        self.parameters = params
+    def __init__(self, parameters: BasePrefabParameters):
+        Sofa.Core.Node.__init__(self, name=parameters.name)
+        self.parameters = parameters
 
     def init(self):
         raise NotImplemented("To be overridden by child class")

stlib/entities/__entity__.py

@@ -43,22 +43,22 @@ def __init__(self, parameters=EntityParameters(), **kwargs):
 
 
     def init(self):
-        self.geometry = self.add(Geometry, self.parameters.geometry)
+        self.geometry = self.add(Geometry, parameters=self.parameters.geometry)
 
         ### Check compatilibility of Material
         if self.parameters.material.stateType != self.parameters.stateType:
             print("WARNING: imcompatibility between templates of both the entity and the material")
             self.parameters.material.stateType = self.parameters.stateType
 
-        self.material = self.add(Material, self.parameters.material)
+        self.material = self.add(Material, parameters=self.parameters.material)
         self.material.States.position.parent = self.geometry.container.position.linkpath
 
         if self.parameters.collision is not None:
-            self.collision = self.add(Collision, self.parameters.collision)
+            self.collision = self.add(Collision, parameters=self.parameters.collision)
             self.addMapping(self.collision)
 
         if self.parameters.visual is not None:
-            self.visual = self.add(Visual, self.parameters.visual)
+            self.visual = self.add(Visual, parameters=self.parameters.visual)
             self.addMapping(self.visual)
 
 

stlib/materials/deformable.py

@@ -29,6 +29,7 @@ def createScene(root) :
     from stlib.visual import VisualParameters
     from stlib.geometries.file import FileParameters
 
+    root.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle]
     root.addObject("VisualStyle", displayFlags=["showBehavior"])
 
     bunnyParameters = EntityParameters()
@@ -42,4 +43,5 @@ def createScene(root) :
     #                                                     destinationType=ElementType.TRIANGLES)
     bunnyParameters.visual.geometry = FileParameters(filename="mesh/Bunny.stl")
     bunnyParameters.visual.color = [1, 1, 1, 0.5]
-    bunny = root.add(Entity, bunnyParameters)
+    bunny = root.add(Entity, parameters=bunnyParameters)
+    # bunny.init()

stlib/visual.py

@@ -21,7 +21,7 @@ def __init__(self, parameters: VisualParameters):
         BasePrefab.__init__(self, parameters)
 
     def init(self):
-        self.geometry = self.add(Geometry, self.parameters.geometry)
+        self.geometry = self.add(Geometry, parameters=self.parameters.geometry)
         self.addObject("OglModel", color=self.parameters.color, src=self.geometry.container.linkpath)