[SofaPython3] FIST Commit.

CMakeLists.txt

@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.1)
+project(SofaPython3 VERSION 1.0)
+
+find_package(SofaFramework REQUIRED)
+find_package(SofaSimulation REQUIRED)
+
+set(PYTHON3_LIBRARY "/usr/lib/x86_64-linux-gnu/libpython3.6m.so")
+set(PYTHON3_LIBRARIES "/usr/lib/x86_64-linux-gnu/libpython3.6m.so")
+set(PYTHON3_INCLUDE_DIR "/usr/include/python3.6/")
+set(PYTHON_LIBRARIES ${PYTHON3_LIBRARIES})
+set(PYTHON_LIBRARY ${PYTHON3_LIBRARY})
+set(PYTHON_INCLUDE_DIRS ${PYTHON3_INCLUDE_DIR})
+set(PYTHON_EXECUTABLE python3.6m)
+
+message("-- Python vars: ${PYTHON_INCLUDE_DIRS}")
+message("-- Python vars: ${PYTHON_LIBRARIES}")
+message("-- Python vars: ${PYTHON_LIBRARY}")
+
+find_package(pybind11 QUIET)
+if(NOT pybind11_FOUND)#
+  message("-- Cannot build the python module 'Sofa', missing the pybind software to generate the bindings.")
+  return()
+endif()
+
+message("-- Python vars: ${PYTHON_INCLUDE_DIRS}")
+message("-- Python vars: ${PYTHON_LIBRARIES}")
+message("-- Python vars: ${PYTHON_LIBRARY}")
+
+
+#find_package(pybind11 QUIET)
+#if(NOT pybind11_FOUND)#
+#  message("-- Cannot build the python module 'Sofa', missing the pybind software to generate the bindings.")
+#  return()
+#endif()
+
+set(HEADER_FILES
+    src/SofaPython3/config.h
+    src/SofaPython3/initModule.h
+    src/SofaPython3/PythonEnvironment.h
+    src/SofaPython3/PythonTest.h
+    src/SofaPython3/SceneLoaderPY3.h
+)
+
+set(SOURCE_FILES
+    src/SofaPython3/initModule.cpp
+    src/SofaPython3/PythonEnvironment.cpp
+    src/SofaPython3/PythonTest.cpp
+    src/SofaPython3/SceneLoaderPY3.cpp
+)
+
+set(EXTRA_FILES
+    SofaPython3Config.cmake.in
+    )
+
+add_library(${PROJECT_NAME} SHARED ${HEADER_FILES} ${SOURCE_FILES} ${EXTRA_FILES})
+set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "-DSOFA_BUILD_SOFAPYTHON3")
+
+target_link_libraries(${PROJECT_NAME} PUBLIC SofaCore SofaSimulationCore SofaSimulationGraph)
+
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+    # dlopen() is used on Linux for a workaround (see PythonEnvironnement.cpp)
+    target_link_libraries(${PROJECT_NAME} PRIVATE dl)
+endif()
+
+target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src/>")
+target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:include>")
+
+target_link_libraries(${PROJECT_NAME} PRIVATE "${PYTHON_LIBRARY}" )
+target_include_directories(${PROJECT_NAME} PRIVATE "${PYTHON_INCLUDE_DIR}")
+
+## When installing, copy the content of the example directory into module/SofaPython3
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/examples DESTINATION modules/SofaPython3 COMPONENT resources)
+
+## When installing, copy the target into module/SofaPython3
+install(TARGETS ${PROJECT_NAME} DESTINATION modules/SofaPython3)
+
+# Config files and install rules for pythons scripts
+sofa_set_python_directory(${PROJECT_NAME} "python")
+
+# The signature of sofa_create_package is
+#     sofa_create_package(package_name, version, the_targets, <include_subdir>)
+# This function assumes that there is a FooConfig.cmake.in file template in the source directory.
+# This function is an all in one replacement for install(TARGET), install(EXPORT), and also add
+# the example directory in the INSTALL set.
+sofa_create_package(${PROJECT_NAME} ${PROJECT_VERSION} SofaPython3 "SofaPython3")
+
+### Tests
+#add_subdirectory(tests)
+
+### Python binding
+add_subdirectory(bindings)

SofaPython3Config.cmake.in

@@ -0,0 +1,12 @@
+# CMake package configuration file for the @PROJECT_NAME@ module
+@PACKAGE_INIT@
+find_package(SofaFramework REQUIRED)
+
+# If we are importing this config file and the target is not yet there this is indicating that
+# target is an imported one. So we include it
+if(NOT TARGET @PROJECT_NAME@)
+        include("${CMAKE_CURRENT_LIST_DIR}/@PROJECT_NAME@Targets.cmake")
+endif()
+
+# Check that the component/target is there.
+check_required_components(@PROJECT_NAME@)

bindings/CMakeLists.txt

@@ -0,0 +1,10 @@
+find_package(pybind11 QUIET)
+if(NOT pybind11_FOUND)#
+  message("-- Cannot build the python module 'Sofa', missing the pybind software to generate the bindings.")
+  return()
+endif()
+
+add_subdirectory(Sofa)
+
+#add_subdirectory(SofaRuntime)
+#add_subdirectory(SofaTypes)

bindings/Sofa/CMakeLists.txt

@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.1)
+project(SofaPython3_Sofa VERSION 1.0)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+####################################################################################################
+### Module dependencies
+####################################################################################################
+find_package(SofaPython3 REQUIRED)
+
+# This must be done before doing the find_package(pybind11)
+#set(PYBIND11_PYTHON_VERSION 3.6m)
+#set(PYTHON_EXECUTABLE python3)
+
+set(HEADER_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_Base.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_BaseData.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_BaseObject.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_DataContainer.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_PythonController.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_ForceField.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_Visitor.h
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/DataCache.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/DataHelper.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Submodule_Core.h
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Helper/Submodule_Helper.h
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Binding_Node.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Binding_Simulation.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.h
+)
+
+set(SOURCE_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_Base.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_BaseData.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_BaseObject.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_DataContainer.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_PythonController.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_ForceField.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Binding_Visitor.cpp
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/DataCache.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/DataHelper.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Helper/Submodule_Helper.cpp
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Binding_Node.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Binding_Simulation.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
+
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/Sofa/Module_Sofa.cpp
+)
+
+set(PYTHON_FILES
+    package/__Sofa_Types__/__init__.py
+    package/__Sofa_Types__/RGBAColor.py
+    package/__Sofa_Types__/Vec3.py
+    )
+
+
+sofa_add_pybind11_module(
+             TARGET SofaPython3_Sofa
+             SOURCES  ${SOURCE_FILES} ${HEADER_FILES} ${PYTHON_FILES}
+             DEPENDS SofaCore SofaSimulationGraph SofaPython3 pybind11::module
+             OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/package/"
+             NAME Sofa
+    )
+
+target_include_directories(SofaPython3_Sofa PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>/src")
+target_include_directories(SofaPython3_Sofa PUBLIC "$<INSTALL_INTERFACE:include>")
+
+## Python configuration file (build tree), the lib in the source dir (easier while developping .py files)
+file(WRITE "${CMAKE_BINARY_DIR}/etc/sofa/python.d/Sofa" "${CMAKE_CURRENT_SOURCE_DIR}/package/")
+
+## Python configuration file (install tree)
+file(WRITE "${CMAKE_CURRENT_BINARY_DIR}/installed-Sofa-config"
+             "modules/Sofa/python/")
+
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/installed-Sofa-config"
+         DESTINATION "etc/sofa/python.d"
+         RENAME "Sofa")
+
+configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in"
+               "${CMAKE_BINARY_DIR}/cmake/${PROJECT_NAME}Config.cmake")
+
+add_subdirectory(tests)

bindings/Sofa/SofaPython3_SofaConfig.cmake.in

@@ -0,0 +1,5 @@
+#CMake package configuration file for the @PROJECT_NAME@ plugin
+
+@PACKAGE_INIT@
+
+set(SOFAPYTHON3_BINDING_SOFA_LOCATION "${CMAKE_CURRENT_SOURCE_DIR}/package/Sofa")

bindings/Sofa/examples/example1.py

@@ -0,0 +1,14 @@
+print(".EXAMPLE SCENE.")
+
+def createScene(rootNode):
+        print("COUCOU")
+        print("Type: "+str(type(rootNode)))
+        print("Name: "+str(type(rootNode.getName())))
+
+        one = rootNode.createChild("Child1")
+        two = rootNode.createChild("Child2")
+
+        print("T:" + str(one.getName()))
+        print("T:" + str(two.getName()))
+
+        return rootNode

bindings/Sofa/package/__Sofa_Types__/RGBAColor.py

@@ -0,0 +1,52 @@
+import numpy
+
+class RGBAColor(numpy.ndarray):
+    """A wrapping-type to manipulate Sofa data field as an RGBAColor.
+
+       Eg:
+           n = Sofa.Node("root")
+           m = n.addObject("MechanicalObject")
+           c = RGBAColor(m.showColor)
+           print("Red is: ", c.r())
+    """
+
+    def __new__(cls, input_array=None):
+           import Sofa
+           if input_array is None:
+               obj = super(RGBAColor, cls).__new__(cls, shape=(4), dtype=float)               
+               obj[0] = obj[1] = obj[2] = obj[3] = 0 
+               return obj
+
+           if isinstance(input_array, list):
+               if len(input_array) not in [4]:
+                   raise ValueError("The list is too long. Only size 4 list is supported")
+
+               obj = super(RGBAColor, cls).__new__(cls, shape=(4), dtype=float)
+               numpy.copyto(obj, numpy.asarray(input_array))
+               return obj
+
+           if isinstance(input_array, Sofa.Core.DataContainer):
+               cls.owner = input_array
+               input_array = input_array.toarray()
+
+           if input_array.ndim != 1:
+               raise ValueError("Invalid dimension, expecting a 1D array, got "+str(input_array.ndim)+"D")
+
+           # Input array is an already formed ndarray instance
+           # We first cast to be our class type
+           obj = numpy.asarray(input_array).view(cls)
+
+           # Finally, we must return the newly created object:
+           return obj
+
+    def r(self):
+        return self[0]
+
+    def g(self):
+        return self[1]
+
+    def b(self):
+        return self[2]
+
+    def a(self):
+        return self[3]