Merge remote-tracking branch 'origin/master' into pr-typehint-example-how-to-fix-definition

Author: damienmarchal

bindings/Modules/tests/SofaConstraintSolver/matrix_access.py

@@ -1,6 +1,5 @@
 import unittest
 import Sofa.Core
-import Sofa.Components
 from Sofa import SofaConstraintSolver
 
 class Test(unittest.TestCase):

bindings/Modules/tests/SofaLinearSolver/matrix_access.py

@@ -1,6 +1,5 @@
 import unittest
 import Sofa.Core
-import Sofa.Components
 from Sofa import SofaLinearSolver
 
 class Test(unittest.TestCase):

bindings/Sofa/Bindings.SofaConfig.cmake.in

@@ -8,7 +8,7 @@ find_package(SofaPython3 QUIET REQUIRED COMPONENTS Plugin)
 # Required by Bindings.Sofa.Helper, Bindings.Sofa.Types
 find_package(Sofa.Core QUIET REQUIRED)
 
-# Required by Bindings.Sofa.Core, Bindings.Sofa.Components
+# Required by Bindings.Sofa.Core
 find_package(Sofa.Simulation.Core QUIET REQUIRED)
 
 # Required by Bindings.Sofa.Core

bindings/Sofa/CMakeLists.txt

@@ -1,7 +1,6 @@
 project(Bindings.Sofa)
 
 set(SOFABINDINGS_MODULE_LIST
-    Components
     Core
     Helper
     Simulation

bindings/Sofa/package/__init__.py

@@ -161,7 +161,6 @@
 import Sofa.Core
 import Sofa.Simulation
 import Sofa.Types
-import Sofa.Components
 import SofaTypes
 
 from .prefab import *

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

@@ -0,0 +1,96 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2021 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* 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: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <SofaPython3/Sofa/Types/Binding_CompressedRowSparseMatrix.h>
+
+#include <sofa/core/objectmodel/BaseData.h>
+#include <sofa/core/objectmodel/Data.h>
+#include <sofa/defaulttype/RigidTypes.h>
+#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraint.h>
+#include <pybind11/eigen.h>
+#include <sofa/linearalgebra/CompressedRowSparseMatrixConstraintEigenUtils.h>
+#include <sofa/type/trait/is_specialization_of.h>
+#include <SofaPython3/PythonFactory.h>
+
+
+namespace py { using namespace pybind11; }
+
+namespace sofapython3
+{
+
+template<class TBlock>
+typename sofa::linearalgebra::CompressedRowSparseMatrixToEigenSparseVec<TBlock>::EigenSparseMatrix
+toEigen(const sofa::linearalgebra::CompressedRowSparseMatrixConstraint<TBlock>& matrix)
+{
+    static sofa::linearalgebra::CompressedRowSparseMatrixToEigenSparseVec<TBlock> convert;
+    return convert(matrix);
+}
+
+template<class MatrixDeriv>
+void bindCompressedRowSparseMatrixConstraint(pybind11::module& m)
+{
+    static_assert(sofa::type::trait::is_specialization_of_v<MatrixDeriv, sofa::linearalgebra::CompressedRowSparseMatrixConstraint>,
+                  "Template argument must be a specialization of CompressedRowSparseMatrixConstraint");
+
+    py::class_<sofa::Data<MatrixDeriv>, sofa::core::objectmodel::BaseData,
+            std::unique_ptr<sofa::Data<MatrixDeriv>, pybind11::nodelete> > crsmc(m, MatrixDeriv::Name() );
+
+    crsmc.def_property_readonly("value", [](sofa::Data<MatrixDeriv>& self)
+    {
+        sofa::helper::ReadAccessor accessor(self);
+        return toEigen(accessor.ref());
+    });
+
+    PythonFactory::registerType(MatrixDeriv::Name(), [](sofa::core::BaseData* data) -> py::object {
+        auto matrix = reinterpret_cast<sofa::Data<MatrixDeriv>*>(data);
+        return py::cast(matrix);
+    });
+}
+
+/**
+ * Given a template parameter pack, create the bindings of all the templates in
+ * the pack, making sure that there are no duplicate types.
+ */
+template <typename T, typename... Args>
+void bindAllCompressedRowSparseMatrixConstraintTypes(pybind11::module& m)
+{
+    static_assert(!(std::is_same_v<T, Args> || ...), "Error: Duplicate types found!");
+
+    bindCompressedRowSparseMatrixConstraint<T>(m);
+    if constexpr (sizeof...(Args) > 0)
+    {
+        bindAllCompressedRowSparseMatrixConstraintTypes<Args...>(m);
+    }
+}
+
+void moduleAddCompressedRowSparseMatrix(pybind11::module& m)
+{
+    using namespace sofa::defaulttype;
+
+    bindAllCompressedRowSparseMatrixConstraintTypes<
+        Vec1Types::MatrixDeriv,
+        Vec2Types::MatrixDeriv,
+        Vec3Types::MatrixDeriv,
+        Vec6Types::MatrixDeriv,
+        Rigid2Types::MatrixDeriv,
+        Rigid3Types::MatrixDeriv
+    >(m);
+}
+
+}

bindings/Sofa/src/SofaPython3/Sofa/Components/Submodule_Components.cpp

@@ -22,9 +22,8 @@
 
 #include <pybind11/pybind11.h>
 
-namespace sofapython3
-{
-namespace py { using namespace pybind11; }
+namespace sofapython3 {
 
-} ///namespace sofapython3
+void moduleAddCompressedRowSparseMatrix(pybind11::module& m);
 
+}  // namespace sofapython3

bindings/Sofa/src/SofaPython3/Sofa/Types/Binding_CompressedRowSparseMatrix.cpp

@@ -2,10 +2,12 @@ project(Bindings.Sofa.Types)
 
 set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BoundingBox.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CompressedRowSparseMatrix.h
 )
 
 set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Submodule_Types.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CompressedRowSparseMatrix.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_BoundingBox.cpp
 )