[Bindings] Add bindings for the element rotations of CorotationalFEMForceField

bindings/Modules/src/SofaPython3/SofaDeformable/Binding_CorotationalFEMForceField.cpp

@@ -0,0 +1,74 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* 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/SofaDeformable/Binding_CorotationalFEMForceField.h>
+
+#include <pybind11/numpy.h>
+
+#include <sofa/component/solidmechanics/fem/elastic/CorotationalFEMForceField.h>
+#include <sofa/defaulttype/VecTypes.h>
+
+#include <SofaPython3/Sofa/Core/Binding_Base.h>
+#include <SofaPython3/PythonFactory.h>
+
+#include <algorithm>
+#include <string>
+
+namespace sofapython3
+{
+namespace py = pybind11;
+
+template <class DataTypes, class ElementType>
+void bindCorotationalFEMForceField(py::module& m, const std::string& elementName)
+{
+    using ForceField = sofa::component::solidmechanics::fem::elastic::CorotationalFEMForceField<DataTypes, ElementType>;
+
+    const std::string pyclassName = std::string("CorotationalFEMForceField") + DataTypes::Name() + elementName;
+    py::class_<ForceField, sofa::core::behavior::ForceField<DataTypes>, py_shared_ptr<ForceField>> f(
+        m, pyclassName.c_str(), py::multiple_inheritance());
+
+    f.def("getElementRotations", [](const ForceField& self)
+    {
+        constexpr py::ssize_t dim = DataTypes::spatial_dimensions;
+        const auto& rotations = self.getElementRotations();
+        py::array_t<SReal> result({static_cast<py::ssize_t>(rotations.size()), dim, dim});
+        SReal* out = result.mutable_data();
+        for (const auto& rotation : rotations)
+            out = std::copy_n(rotation.ptr(), dim * dim, out);
+        return result;
+    }, "Rotation of every element, as last computed: shape (nb_elements, spatial_dimension, spatial_dimension).");
+
+    PythonFactory::registerType<ForceField>([](sofa::core::objectmodel::Base* object)
+    {
+        return py::cast(dynamic_cast<ForceField*>(object));
+    });
+}
+
+void moduleAddCorotationalFEMForceField(py::module& m)
+{
+    using namespace sofa::defaulttype;
+    using namespace sofa::geometry;
+
+    bindCorotationalFEMForceField<Vec2Types, Triangle>(m, "Triangle");
+    bindCorotationalFEMForceField<Vec2Types, Quad>(m, "Quad");
+    bindCorotationalFEMForceField<Vec3Types, Tetrahedron>(m, "Tetrahedron");
+    bindCorotationalFEMForceField<Vec3Types, Hexahedron>(m, "Hexahedron");
+}
+
+} // namespace sofapython3

bindings/Modules/src/SofaPython3/SofaDeformable/Binding_CorotationalFEMForceField.h

@@ -0,0 +1,27 @@
+/******************************************************************************
+*                              SofaPython3 plugin                             *
+*                  (c) 2021 CNRS, University of Lille, INRIA                  *
+*                                                                             *
+* 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                             *
+******************************************************************************/
+#pragma once
+
+#include <pybind11/pybind11.h>
+
+namespace sofapython3
+{
+void moduleAddCorotationalFEMForceField(pybind11::module& m);
+}

bindings/Modules/src/SofaPython3/SofaDeformable/CMakeLists.txt

@@ -2,6 +2,7 @@ project(Bindings.Modules.SofaDeformable)
 
 set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CauchyStress.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CorotationalFEMForceField.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LameParameters.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_SpringForceField.cpp
@@ -10,6 +11,7 @@ set(SOURCE_FILES
 
 set(HEADER_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CauchyStress.h
+    ${CMAKE_CURRENT_SOURCE_DIR}/Binding_CorotationalFEMForceField.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LameParameters.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring.h
     ${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring_doc.h

bindings/Modules/src/SofaPython3/SofaDeformable/Module_SofaDeformable.cpp

@@ -23,6 +23,7 @@
 #include <SofaPython3/SofaDeformable/Binding_SpringForceField.h>
 #include <SofaPython3/SofaDeformable/Binding_LameParameters.h>
 #include <SofaPython3/SofaDeformable/Binding_CauchyStress.h>
+#include <SofaPython3/SofaDeformable/Binding_CorotationalFEMForceField.h>
 
 
 namespace py { using namespace pybind11; }
@@ -38,6 +39,7 @@ PYBIND11_MODULE(SofaDeformable, m)
     moduleAddSpringForceField(m);
     moduleAddLameParameters(m);
     moduleAddCauchyStress(m);
+    moduleAddCorotationalFEMForceField(m);
 }
 
 } // namespace sofapython3