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Add hyperelastic FF trampoline class for python bindings
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Signed-off-by: Jean-Nicolas Brunet <[email protected]>

Signed-off-by: Jean-Nicolas Brunet <[email protected]>
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@jnbrunet
jnbrunet committed Apr 26, 2022
1 parent da7adba commit 5405a8f
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5 changes: 5 additions & 0 deletions src/SofaCaribou/Python/Forcefield/HyperelasticForcefield.cpp
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#include <Caribou/Geometry/Hexahedron.h>
#include <Caribou/Geometry/Hexahedron20.h>

#include <SofaCaribou/Forcefield/CaribouForcefield[Hexahedron].h>
#include <SofaCaribou/Forcefield/CaribouForcefield[Hexahedron20].h>
#include <SofaCaribou/Forcefield/CaribouForcefield[Tetrahedron10].h>
#include <SofaCaribou/Forcefield/CaribouForcefield[Tetrahedron].h>

#include <pybind11/eigen.h>

namespace SofaCaribou::forcefield::python {
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166 changes: 164 additions & 2 deletions src/SofaCaribou/Python/Forcefield/HyperelasticForcefield.h
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#include <SofaPython3/PythonFactory.h>
#include <SofaPython3/Sofa/Core/Binding_Base.h>
#include <SofaPython3/Sofa/Core/Data/Binding_DataContainer.h>
#include <SofaPython3/PythonEnvironment.h>

#include <SofaCaribou/Forcefield/HyperelasticForcefield.h>
#include <SofaCaribou/Forcefield/HyperelasticForcefield.inl>

#include <sofa/core/MechanicalParams.h>
#include <sofa/core/behavior/MultiMatrixAccessor.h>

using namespace pybind11::literals;

namespace SofaCaribou::forcefield::python {

template <typename Element>
class HyperelasticForcefieldTrampoline : public HyperelasticForcefield<Element> {
public:
SOFA_CLASS(SOFA_TEMPLATE(HyperelasticForcefieldTrampoline, Element), SOFA_TEMPLATE(HyperelasticForcefield, Element));
using typename HyperelasticForcefield<Element>::DataVecDeriv;
using typename HyperelasticForcefield<Element>::DataVecCoord;

void init() override {
sofapython3::PythonEnvironment::gil acquire;
PYBIND11_OVERLOAD(void, HyperelasticForcefield<Element>, init);
}

void addForce(const sofa::core::MechanicalParams* mparams, DataVecDeriv& f, const DataVecCoord& x, const DataVecDeriv& v) override {
sofapython3::PythonEnvironment::gil acquire;

// Try to look up the overridden method on the Python side.
pybind11::function override = pybind11::get_override(this, "addForce");
if (override) {
// python override method is found, call it
pybind11::dict mp = pybind11::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());
override(mp, sofapython3::PythonFactory::toPython(&f), sofapython3::PythonFactory::toPython(&x), sofapython3::PythonFactory::toPython(&v));
} else {
// No python override, call the generic method
HyperelasticForcefield<Element>::addForce(mparams, f, x, v);
}
}

void addDForce(const sofa::core::MechanicalParams * mparams, DataVecDeriv & df, const DataVecDeriv & dx) override {
sofapython3::PythonEnvironment::gil acquire;

// Try to look up the overridden method on the Python side.
pybind11::function override = pybind11::get_override(this, "addDForce");
if (override) {
// python override method is found, call it
pybind11::dict mp = pybind11::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());
override(mp, sofapython3::PythonFactory::toPython(&df), sofapython3::PythonFactory::toPython(&dx));
} else {
// No python override, call the generic method
HyperelasticForcefield<Element>::addDForce(mparams, df, dx);
}
}
};

template<typename Element>
void bind_hyperelastic_forcefield(pybind11::module &m, const std::string & template_name) {
pybind11::module::import("Sofa");

std::string name = "HyperelasticForcefield<" + template_name + ">";
std::string name = "HyperelasticForcefield_" + template_name;

pybind11::class_<HyperelasticForcefield<Element>, sofa::core::objectmodel::BaseObject, sofapython3::py_shared_ptr<HyperelasticForcefield<Element>>> c(m, name.c_str());
using Real = typename HyperelasticForcefield<Element>::Real;
using VecCoord = typename HyperelasticForcefield<Element>::VecCoord;
using VecDeriv = typename HyperelasticForcefield<Element>::VecDeriv;


pybind11::class_<HyperelasticForcefield<Element>, sofa::core::objectmodel::BaseObject, HyperelasticForcefieldTrampoline<Element>, sofapython3::py_shared_ptr<HyperelasticForcefield<Element>>> c(m, name.c_str());
c.def("init", &HyperelasticForcefield<Element>::init);
c.def("K", &HyperelasticForcefield<Element>::K);
c.def("cond", &HyperelasticForcefield<Element>::cond);
c.def("eigenvalues", &HyperelasticForcefield<Element>::eigenvalues);
Expand All @@ -28,6 +93,103 @@ void bind_hyperelastic_forcefield(pybind11::module &m, const std::string & templ
c.def("assemble_stiffness", [](HyperelasticForcefield<Element> & self, const Eigen::Matrix<float, Eigen::Dynamic, HyperelasticForcefield<Element>::Dimension, Eigen::RowMajor> & x) {
self.assemble_stiffness(x);
}, pybind11::arg("x").noconvert(true));
c.def("addForce",
[](HyperelasticForcefield<Element> &self,
const pybind11::dict &mp,
sofapython3::DataContainer &f,
const sofapython3::DataContainer &x,
const sofapython3::DataContainer &v
) {
auto *ff = reinterpret_cast<sofa::core::objectmodel::Data<VecDeriv> *>(&f);
const auto *xx = reinterpret_cast<const sofa::core::objectmodel::Data<VecCoord> *>(&x);
const auto *vv = reinterpret_cast<const sofa::core::objectmodel::Data<VecDeriv> *>(&v);
sofa::core::MechanicalParams mparams;
if (mp.template contains("mFactor")) {
mparams.setMFactor(pybind11::cast<Real>(mp["mFactor"]));
}
if (mp.template contains("bFactor")) {
mparams.setBFactor(pybind11::cast<Real>(mp["bFactor"]));
}
if (mp.template contains("kFactor")) {
mparams.setKFactor(pybind11::cast<Real>(mp["kFactor"]));
}
if (mp.template contains("isImplicit")) {
mparams.setImplicit(pybind11::cast<bool>(mp["isImplicit"]));
}
if (mp.template contains("energy")) {
mparams.setEnergy(pybind11::cast<bool>(mp["energy"]));
}
if (mp.template contains("dt")) {
mparams.setDt(pybind11::cast<Real>(mp["dt"]));
}

self.addForce(&mparams, *ff, *xx, *vv);
},
pybind11::arg("mechanical_params"),
pybind11::arg("f").noconvert(),
pybind11::arg("x").noconvert(),
pybind11::arg("v").noconvert()
);

c.def("addDForce",
[](HyperelasticForcefield<Element> & self,
const pybind11::dict & mp,
sofapython3::DataContainer &df,
const sofapython3::DataContainer &dx
)
{
auto * dff = reinterpret_cast<sofa::core::objectmodel::Data<VecDeriv>*>(&df);
const auto * dxx = reinterpret_cast<const sofa::core::objectmodel::Data<VecCoord>*>(&dx);
sofa::core::MechanicalParams mparams;
if (mp.template contains("mFactor")) {
mparams.setMFactor(pybind11::cast<Real>(mp["mFactor"]));
}
if (mp.template contains("bFactor")) {
mparams.setBFactor(pybind11::cast<Real>(mp["bFactor"]));
}
if (mp.template contains("kFactor")) {
mparams.setKFactor(pybind11::cast<Real>(mp["kFactor"]));
}
if (mp.template contains("isImplicit")) {
mparams.setImplicit(pybind11::cast<bool>(mp["isImplicit"]));
}
if (mp.template contains("energy")) {
mparams.setEnergy(pybind11::cast<bool>(mp["energy"]));
}
if (mp.template contains("dt")) {
mparams.setDt(pybind11::cast<Real>(mp["dt"]));
}

self.addDForce(&mparams, *dff, *dxx);
},
pybind11::arg("mechanical_params"),
pybind11::arg("df").noconvert(),
pybind11::arg("dx").noconvert()
);

c.def(pybind11::init([](pybind11::args &args, pybind11::kwargs &kwargs) {
auto ff = sofa::core::sptr<HyperelasticForcefieldTrampoline<Element>> (new HyperelasticForcefieldTrampoline<Element>());

ff->f_listening.setValue(true);

if (args.size() == 1) ff->setName(pybind11::cast<std::string>(args[0]));

pybind11::object cc = pybind11::cast(ff);
for (auto kv : kwargs) {
auto key = pybind11::cast<std::string>(kv.first);
auto value = pybind11::reinterpret_borrow<pybind11::object>(kv.second);
if (key == "name") {
if (!args.empty()) {
throw pybind11::type_error("The name is set twice as a "
"named argument='" + pybind11::cast<std::string>(value) + "' and as a"
"positional argument='" +
pybind11::cast<std::string>(args[0]) + "'.");
}
}
sofapython3::BindingBase::SetAttr(cc, key, value);
}
return ff;
}));

sofapython3::PythonFactory::registerType<HyperelasticForcefield<Element>>([template_name](sofa::core::objectmodel::Base* o) {
return pybind11::cast(dynamic_cast<HyperelasticForcefield<Element>*>(o));
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