Fix extract geometry

Author: bakpaul

examples/stlib/node_modifier.py

@@ -19,7 +19,7 @@
 
 def createScene(root):
     root.gravity=[0,0,9.81]
-
+    root.dt=0.01
 
     ##Environement
     planes_lengthNormal = np.array([0, 1, 0])
@@ -75,7 +75,8 @@ def createScene(root):
     SParams.collision = CollisionParameters()
     SParams.collision.primitives = [CollisionPrimitive.TRIANGLES]
     # # #TODO: to fix link issues for extracted geometry, it might be better to give source geometry relative link + parameters
-    SParams.collision.geometry = ExtractParameters(destinationType=ElementType.TRIANGLES, sourceParameters=SParams.geometry )
+    ## TODO: not working with static container because the init order is always wrong so that the triangle vector is always empty when initializing the container
+    SParams.collision.geometry = ExtractParameters(destinationType=ElementType.TRIANGLES, sourceParameters=SParams.geometry,dynamicTopology=True)
     SParams.visual = VisualParameters()
     SParams.visual.geometry = FileParameters(filename="mesh/SofaScene/SVisu.obj")
     SParams.visual.color = [0.7, .7, 0.7, 0.8]
@@ -91,7 +92,7 @@ def createScene(root):
                                                                                   displayFlags = ["showVisualModels", "showInteractionForceFields"],
                                                                                   enableCollisionDetection = True,
                                                                                   useLagrangian = True,
-                                                                                  parallelComputing = True,
+                                                                                  parallelComputing = False,
                                                                                   alarmDistance=0.3, contactDistance=0.02,
                                                                                   frictionCoef=0.5, tolerance=1.0e-4, maxIterations=20))
 

stlib/geometries/__geometry__.py

@@ -1,5 +1,5 @@
 from stlib.core.basePrefab import BasePrefab
-from stlib.core.baseParameters import BaseParameters, Optional, dataclasses, Any
+from stlib.core.baseParameters import BaseParameters, Optional, dataclasses, Any, Callable
 from splib.topology.dynamic import addDynamicTopology
 from splib.topology.static import addStaticTopology
 from splib.core.enum_types import ElementType
@@ -35,6 +35,10 @@ class GeometryParameters(BaseParameters):
 
     dynamicTopology : bool = False
 
+
+    def postInitExec(self, node):
+        pass
+
     def Data(self):
         return InternalDataProvider()
 
@@ -79,4 +83,6 @@ def init(self):
                                 "quads": self.parameters.data.quads,
                                 "tetrahedra": self.parameters.data.tetrahedra,
                                 "hexahedra": self.parameters.data.hexahedra
-                              })
+                              })
+
+        self.parameters.postInitExec(self)

stlib/geometries/extract.py

@@ -6,66 +6,49 @@
 
 import Sofa
 from Sofa.Core import Node
+from functools import partial
 
 
 class ExtractInternalDataProvider(InternalDataProvider):
-    destinationType : ElementType
-    sourceType : ElementType
-    sourceName : str
 
-    def __init__(self, destinationType : ElementType, sourceType : ElementType, sourceName : str):
-        self.destinationType = destinationType
-        self.sourceType = sourceType
-        self.sourceName = sourceName
-
-    def __post_init__(self):
-        if(not (self.sourceType == ElementType.TETRAHEDRA and self.destinationType == ElementType.TRIANGLES)
-           and not (self.sourceType == ElementType.HEXAHEDRA and self.destinationType == ElementType.QUADS) ):
-            raise ValueError("Only configuration possible are 'Tetrahedra to Triangles' and 'Hexahedra to Quads'")
-
-        InternalDataProvider.__init__(self)
+    def __init__(self):
+        super().__init__()
 
     def generateAttribute(self, parent : Geometry):
-        node = parent.addChild("ExtractedGeometry")
+        self.position = parent.parents[0].parents[0].getChild("Geometry").container.position.linkpath
+
 
-        #TODO: Specify somewhere in the doc that this should only be used for mapped topologies that extract parent topology surface
-        # fromLink = parent.parents[0].parents[0].getChild(self.SourceName).container.linkpath
-        # TODO: the line above cannot work if the nodes and objects are not added to the graph prior the end of __init__() call
-        # !!! also, on a fail, nothing is added to the graph, which makes things harder to debug
-        # !!! also, does not work because of the function canCreate(), which checks the input (not yet created?)
-        # this is all related
-        fromLink = "@../../../Geometry/container" # TODO: can we do better than this?
-        addDynamicTopology(node, elementType=self.destinationType, container={"position" : fromLink + ".position"})
-        if self.sourceType == ElementType.TETRAHEDRA:
-            node.addObject("Tetra2TriangleTopologicalMapping", input=fromLink, output=node.container.linkpath)
-        elif self.sourceType == ElementType.HEXAHEDRA:
-            node.addObject("Hexa2QuadTopologicalMapping", input=fromLink, output=node.container.linkpath)
-        else:
-            Sofa.msg_error("[stlib/geometry/exctrat.py]", "Element type: " + str(self.sourceType) + " not supported.")
+def extractGeometry(sourceType : ElementType, parent : Geometry):
+    #TODO: Specify somewhere in the doc that this should only be used for mapped topologies that extract parent topology surface
+    # fromLink = parent.parents[0].parents[0].getChild(self.SourceName).container.linkpath
+    # TODO: the line above cannot work if the nodes and objects are not added to the graph prior the end of __init__() call
+    # !!! also, on a fail, nothing is added to the graph, which makes things harder to debug
+    # !!! also, does not work because of the function canCreate(), which checks the input (not yet created?)
+    # this is all related
+    fromLink = parent.parents[0].parents[0].getChild("Geometry").container.linkpath # TODO: can we do better than this?
+    if sourceType == ElementType.TETRAHEDRA:
+        parent.addObject("Tetra2TriangleTopologicalMapping", input=fromLink, output=parent.container.linkpath)
+    elif sourceType == ElementType.HEXAHEDRA:
+        parent.addObject("Hexa2QuadTopologicalMapping", input=fromLink, output=parent.container.linkpath)
+    else:
+        Sofa.msg_error("[stlib/geometry/exctrat.py]", "Element type: " + str(sourceType) + " not supported.")
 
-        self.position = node.container.position.linkpath
-        if node.container.findData("edges") is not None:
-            self.edges = node.container.edges.linkpath
-        if node.container.findData("triangles") is not None:
-            self.triangles = node.container.triangles.linkpath
-        if node.container.findData("quads") is not None:
-            self.quads = node.container.quads.linkpath
-        if node.container.findData("hexahedra") is not None:
-            self.hexahedra = node.container.hexahedra.linkpath
-        if node.container.findData("tetras") is not None:
-            self.tetrahedra = node.container.tetras.linkpath
 
 
 
 class ExtractParameters(GeometryParameters):
-    def __init__(self, 
-                 sourceParameters : GeometryParameters, 
+    def __init__(self,
+                 sourceParameters : GeometryParameters,
                  destinationType : ElementType,
                  dynamicTopology : bool = False):
         GeometryParameters.__init__(self,
-                                    data = ExtractInternalDataProvider(destinationType = destinationType, 
-                                                                       sourceType = sourceParameters.elementType,
-                                                                       sourceName = sourceParameters.name), 
+                                    data = ExtractInternalDataProvider(),
                                     dynamicTopology = dynamicTopology,
                                     elementType = destinationType)
-        
+
+        self.postInitExec = partial(extractGeometry, sourceParameters.elementType)
+
+        if(not (sourceParameters.elementType == ElementType.TETRAHEDRA and destinationType == ElementType.TRIANGLES)
+            and not (sourceParameters.elementType == ElementType.HEXAHEDRA and destinationType == ElementType.QUADS) ):
+            raise ValueError("Only configuration possible are 'Tetrahedra to Triangles' and 'Hexahedra to Quads'")
+