Add python binding for Mappings

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

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

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

@@ -0,0 +1,182 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#include <pybind11/pybind11.h>
+#include <pybind11/numpy.h>
+#include <SofaPython3/Sofa/Core/Binding_Base.h>
+#include <SofaPython3/Sofa/Core/Binding_Mapping.h>
+#include <SofaPython3/Sofa/Core/Binding_Mapping_doc.h>
+#include <SofaPython3/PythonFactory.h>
+
+#include <sofa/core/ConstraintParams.h>
+
+#include <sofa/core/behavior/MechanicalState.h>
+#include <sofa/core/MechanicalParams.h>
+#include <sofa/core/behavior/DefaultMultiMatrixAccessor.h>
+#include <sofa/linearalgebra/CompressedRowSparseMatrix.h>
+
+#include <pybind11/eigen.h>
+
+#include <SofaPython3/PythonEnvironment.h>
+using sofapython3::PythonEnvironment;
+
+/// Makes an alias for the pybind11 namespace to increase readability.
+namespace py { using namespace pybind11; }
+/// To bring in the `_a` literal
+using namespace pybind11::literals;
+
+namespace sofapython3
+{
+    using sofa::core::Mapping;
+    using sofa::core::objectmodel::BaseObject;
+    using sofa::core::objectmodel::ComponentState;
+    using sofa::core::behavior::MechanicalState;
+    using sofa::core::MechanicalParams;
+    using sofa::core::behavior::MultiMatrixAccessor;
+    using sofa::defaulttype::Vec3dTypes;
+    using sofa::defaulttype::Vec2dTypes;
+    using sofa::defaulttype::Vec1dTypes;
+    using sofa::defaulttype::Vec6dTypes;
+    using sofa::defaulttype::Rigid3dTypes;
+    using sofa::defaulttype::Rigid2dTypes;
+
+    template<class In, class Out>
+    Mapping_Trampoline<In, Out>::Mapping_Trampoline() = default;
+
+    template<class In, class Out>
+    Mapping_Trampoline<In, Out>::~Mapping_Trampoline() = default;
+
+    template<class In, class Out>
+    std::string Mapping_Trampoline<In, Out>::getClassName() const
+    {
+        PythonEnvironment::gil acquire {"getClassName"};
+
+        // Get the actual class name from python.
+        return py::str(py::cast(this).get_type().attr("__name__"));
+    }
+
+    template<class In, class Out>
+    void Mapping_Trampoline<In, Out>::init()
+    {
+        PythonEnvironment::gil acquire;
+
+        Inherit1::init();
+    }
+
+    template<class In, class Out>
+    void Mapping_Trampoline<In, Out>::apply( const MechanicalParams* mparams, OutDataVecCoord& out, const InDataVecCoord& in){
+        PythonEnvironment::gil acquire;
+
+        // pass bFactor, kFactor, energy
+        py::dict mp = py::dict("time"_a=this->getContext()->getTime(),
+                               "mFactor"_a=mparams->mFactor(),
+                               "bFactor"_a=mparams->bFactor(),
+                               "kFactor"_a=mparams->kFactor(),
+                               "isImplicit"_a=mparams->implicit(),
+                               "energy"_a=mparams->energy());
+
+        PYBIND11_OVERLOAD_PURE(void, Inherit1, apply, mp,
+                               PythonFactory::toPython(&out), PythonFactory::toPython(&in));
+    }
+
+    template<class In, class Out>
+    void Mapping_Trampoline<In, Out>::applyJ( const MechanicalParams* mparams, OutDataVecDeriv& out, const InDataVecDeriv& in){
+        PythonEnvironment::gil acquire;
+
+        // pass bFactor, kFactor, energy
+        py::dict mp = py::dict("time"_a=getContext()->getTime(),
+                               "mFactor"_a=mparams->mFactor(),
+                               "bFactor"_a=mparams->bFactor(),
+                               "kFactor"_a=mparams->kFactor(),
+                               "isImplicit"_a=mparams->implicit(),
+                               "energy"_a=mparams->energy());
+
+        PYBIND11_OVERLOAD_PURE(void, Inherit1, applyJ, mp,
+                               PythonFactory::toPython(&out), PythonFactory::toPython(&in));
+    }
+
+    template<class In, class Out>
+    void Mapping_Trampoline<In, Out>::applyJT( const MechanicalParams* mparams, InDataVecDeriv& out, const OutDataVecDeriv& in){
+        PythonEnvironment::gil acquire;
+
+        py::dict mp = py::dict("time"_a=getContext()->getTime(),
+                               "mFactor"_a=mparams->mFactor(),
+                               "bFactor"_a=mparams->bFactor(),
+                               "kFactor"_a=mparams->kFactor(),
+                               "isImplicit"_a=mparams->implicit(),
+                               "energy"_a=mparams->energy());
+
+        PYBIND11_OVERLOAD_PURE(void, Inherit1, applyJT, mp,
+                               PythonFactory::toPython(&out), PythonFactory::toPython(&in));
+    }
+
+    template<class In, class Out>
+    void Mapping_Trampoline<In, Out>::applyJT( const ConstraintParams* cparams,
+                                                         InDataMatrixDeriv& out, const OutDataMatrixDeriv& in)
+    {
+        PythonEnvironment::gil acquire;
+
+        py::dict mp = py::dict("time"_a=getContext()->getTime());
+
+        PYBIND11_OVERLOAD_PURE(void, Inherit1, applyConstrainsJT, mp,
+                               PythonFactory::toPython(&out), PythonFactory::toPython(&in));
+    }
+
+    template<class In, class Out>
+    void declareMapping(py::module &m) {
+        const std::string pyclass_name = std::string("Mapping_") + In::Name()+ "_" + Out::Name();
+
+        py::class_<Mapping<In, Out>, BaseObject, Mapping_Trampoline<In, Out>,
+                   py_shared_ptr<Mapping<In, Out>>> f(m, pyclass_name.c_str(), py::dynamic_attr(), py::multiple_inheritance(),
+                                                      sofapython3::doc::mapping::mappingClass);
+
+        f.def(py::init([](py::args &args, py::kwargs &kwargs) {
+            auto ff = sofa::core::sptr<Mapping_Trampoline<In, Out>> (new Mapping_Trampoline<In, Out>());
+
+            ff->f_listening.setValue(true);
+
+            if (args.size() == 1)
+                ff->setName(py::cast<std::string>(args[0]));
+
+            py::object cc = py::cast(ff);
+            for (auto kv : kwargs) {
+                std::string key = py::cast<std::string>(kv.first);
+                py::object value = py::reinterpret_borrow<py::object>(kv.second);
+                if (key == "name") {
+                    if (args.size() != 0) {
+                        throw py::type_error("The name is set twice as a "
+                                            "named argument='" + py::cast<std::string>(value) + "' and as a"
+                                                                                                "positional argument='" +
+                                            py::cast<std::string>(args[0]) + "'.");
+                    }
+                }
+                BindingBase::SetAttr(cc, key, value);
+            }
+            return ff;
+        }));
+    }
+
+    void moduleAddMapping(py::module &m) {
+        declareMapping<Rigid3dTypes, Vec3dTypes>(m);
+        declareMapping<Vec3dTypes, Vec3dTypes>(m);
+        declareMapping<Vec3dTypes, Vec1dTypes>(m);
+    }
+
+}  // namespace sofapython3

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

@@ -0,0 +1,61 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+
+#include <sofa/core/BaseMapping.h>
+#include <sofa/core/Mapping.h>
+#include <sofa/defaulttype/VecTypes.h>
+#include <sofa/core/MechanicalParams.h>
+#include <pybind11/pybind11.h>
+
+namespace sofapython3 {
+using sofa::core::ConstraintParams;
+using sofa::core::MechanicalParams;
+
+template<class In, class Out>
+class Mapping_Trampoline : public sofa::core::Mapping<In, Out> {
+public:
+    SOFA_CLASS(SOFA_TEMPLATE2(Mapping_Trampoline, In, Out) ,
+               SOFA_TEMPLATE2(sofa::core::Mapping, In, Out));
+    using sofa::core::Mapping<In,Out>::getContext;
+    using typename sofa::core::Mapping<In,Out>::OutDataVecCoord;
+    using typename sofa::core::Mapping<In,Out>::OutDataVecDeriv;
+    using typename sofa::core::Mapping<In,Out>::InDataVecCoord;
+    using typename sofa::core::Mapping<In,Out>::InDataVecDeriv;
+    using typename sofa::core::Mapping<In,Out>::OutDataMatrixDeriv;
+    using typename sofa::core::Mapping<In,Out>::InDataMatrixDeriv;
+
+    Mapping_Trampoline();
+    ~Mapping_Trampoline() override;
+
+    void init() override;
+    std::string getClassName() const override;
+
+    void apply( const MechanicalParams* mparams, OutDataVecCoord& out, const InDataVecCoord& in) override;
+    void applyJ( const MechanicalParams* mparams, OutDataVecDeriv& out, const InDataVecDeriv& in) override;
+    void applyJT( const MechanicalParams* mparams, InDataVecDeriv& out, const OutDataVecDeriv& in) override;
+    void applyJT( const ConstraintParams* mparams, InDataMatrixDeriv& out, const OutDataMatrixDeriv& in) override;
+
+};
+
+void moduleAddMapping(pybind11::module &m);
+
+} /// namespace sofapython3

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

@@ -0,0 +1,29 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* This program is free software; you can redistribute it and/or modify it     *
+* under the terms of the GNU Lesser General Public License as published by    *
+* the Free Software Foundation; either version 2.1 of the License, or (at     *
+* your option) any later version.                                             *
+*                                                                             *
+* This program is distributed in the hope that it will be useful, but WITHOUT *
+* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
+* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
+* for more details.                                                           *
+*                                                                             *
+* You should have received a copy of the GNU Lesser General Public License    *
+* along with this program. If not, see <http://www.gnu.org/licenses/>.        *
+*******************************************************************************
+* Contact information: [email protected]                             *
+******************************************************************************/
+
+#pragma once
+
+namespace sofapython3::doc::mapping
+{
+static auto mappingClass = R"(
+                         Overridable class to create your own customized mapping
+                         )";
+
+}

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

@@ -27,6 +27,8 @@ set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mass_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory_doc.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node_doc.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.h
@@ -71,6 +73,7 @@ set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinkPath.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mass.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_ObjectFactory.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Mapping.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_Node.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_NodeIterator.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_PointSetTopologyModifier.cpp

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

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