Add first implem of entity

Author: bakpaul

stlib/entities/__entity__.py

@@ -3,28 +3,28 @@
 from stlib.prefabs.visual import VisualParameters, Visual
 from stlib.prefabs.behavior import Behavior, BehaviorParameters
 from stlib.geometry import Geometry
+from stlib.geometry.extract import ExtractParameters
 import dataclasses
 from typing import Callable, Optional, overload, Any
 from stlib.geometry import GeometryParameters
+from splib.core.enum_types import StateType
 import Sofa
 
 
 @dataclasses.dataclass
 class EntityParameters(BaseParameters): 
     name = "Entity"
 
-    # addSimulation : Callable = Simulation
-    #setConstitutiveLaw # : Callable = addBidule
-    #setBoundaryCondition #: Callable = addBidule
+    template : StateType
 
+    ### QUID 
     addCollision : Optional[Callable] = lambda x : Collision(CollisionParameters())
     addVisual : Optional[Callable] = lambda x : Visual(VisualParameters()) 
 
     geometry : GeometryParameters
-    # mechanical : dict = dataclasses.field(default_factory=dict)
+    behavior : BehaviorParameters
     collision : Optional[CollisionParameters] = None
     visual : Optional[VisualParameters] = None
-    # simulation : SimulationParameters = SimulationParameters()
 
 
 
@@ -47,16 +47,29 @@ def __init__(self, parent=None, parameters=EntityParameters(), **kwargs):
 
         self.parameters = parameters
 
-        self.add(Geometry, self.parameters.geometry)
-        self.addBehavior(parameters=parameters.behavior)
-        self.addVisual(parameters=parameters.visual)
-        self.addCollision(parameters=parameters.collision)
+        self.geometry = self.add(Geometry, self.parameters.geometry)
 
-    def addBehavior(self, **kwargs): 
-        self.parameters.addBehavior(self, **kwargs)
+        ### Check compatilibility of Behavior
+        if self.parameters.behavior.stateType != self.parameters.template:
+            print("WARNING: imcompatibility between templates of entity and behavior")
+            self.parameters.behavior.stateType = self.parameters.template
 
-    def addVisual(self, **kwargs):
-        self.parameters.addVisual(self, **kwargs)
+        self.behavior = self.add(Behavior,self.parameters.behavior)
+        
+        if self.parameters.collision is not None:
+            self.collision = self.add(Collision,self.parameters.collision)
+            self.addMapping(self.parameters.collision, self.collision)
+
+        
+        if self.parameters.visual is not None:
+            self.visual = self.add(Visual,self.parameters.visual)
+            self.addMapping(self.parameters.visual, self.visual)
 
-    def addCollision(self, **kwargs):
-        self.parameters.addCollision(self, **kwargs)
+    def addMapping(self, destParameter, destPrefab):
+        if( self.parameters.template == StateType.VEC3):
+            if isinstance(destParameter.geometry,ExtractParameters):
+                destPrefab.addObject("IdentityMapping", input="@../behavior/", output="@.", template='Vec3,Vec3')
+            else :
+                destPrefab.addObject("BarycentricMapping", input="@../behavior/", output="@.", template='Vec3,Vec3')
+        else:
+            destPrefab.addObject("RigidMapping", input="@../behavior", output="@.", template='Rigid3,Vec3')

stlib/prefabs/behavior.py

@@ -1,5 +1,6 @@
 from stlib.core.baseParameters import BaseParameters, Callable, Optional, dataclasses, Any
 from splib.core.enum_types import StateType
+from stlib.core.basePrefab import BasePrefab
 
 
 @dataclasses.dataclass
@@ -13,3 +14,6 @@ class BehaviorParameters(BaseParameters):
 
 
 
+class Behavior(BasePrefab):
+    def __init__(self, params: BehaviorParameters):
+        BasePrefab.__init__(self, params)

stlib/prefabs/collision.py

@@ -17,7 +17,6 @@ class CollisionParameters(BaseParameters):
     contactDistance : Optional[float] = DEFAULT_VALUE
 
     geometry : GeometryParameters = dataclasses.field(default_factory = lambda : GeometryParameters())
-    addMapping : Optional[Callable] = None
 
 
 class Collision(BasePrefab):
@@ -34,8 +33,6 @@ def __init__(self, params: CollisionParameters):
                                group=params.group, 
                                **params.kwargs)
 
-        if params.addMapping is not None:
-            params.addMapping(self)
 
     @staticmethod
     def getParameters(**kwargs) -> CollisionParameters:

stlib/prefabs/visual.py

@@ -12,7 +12,6 @@ class VisualParameters(BaseParameters):
     texture :  Optional[str] = None
 
     geometry : GeometryParameters = dataclasses.field(default_factory = lambda : GeometryParameters())
-    addMapping : Optional[Callable] = None
 
 
 class Visual(BasePrefab):