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sofa-framework · bakpaul · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025
commit 4c3890f7f59bcb9edd39ca71d17c94ca94b42fa8
diff --git a/stlib/core/entity.py b/stlib/core/entity.py
@@ -0,0 +1,57 @@
+from stlib.core.parameters import EntityParameters
+import dataclasses
+from typing import Callable, Optional, overload
+import Sofa
+
+
+
+class Entity(Sofa.Core.BasePrefab): 
+
+    # A simulated object
+    simulation : Simulation
+    visual : VisualModel
+    collision : CollisionModel
+
+    parameters : EntityParameters
+
+    @dataclasses.dataclass
+    class Parameters(EntityParameters): 
+        name : str = "Entity"
+
+        addSimulation : Callable = Simulation
+        addCollisionModel : Callable = CollisionModel
+        addVisualModel : Callable = VisualModel 
+
+        #setConstitutiveLaw # : Callable = addBidule
+        #setBoundaryCondition #: Callable = addBidule
+
+        mechanical : dict = dataclasses.field(default_factory=dict)
+        collision : CollisionModel.Parameters = CollisionModel.Parameters()
+        visual : VisualModelParameters = VisualModelParameters()
+        simulation : SimulationParameters = SimulationParameters()
+
+
+    def __init__(self, parent=None, parameters=EntityParameters(), **kwargs):
+        Sofa.Core.Node.__init__(self, name=parameters.name)        
+
+        if parent is not None: 
+            parent.addChild(self)
+
+        self.parameters = parameters
+
+        self.addMechanicalModel(**parameters.mechanical)
+        self.addSimulation(parameters=parameters.simulation)
+        self.addVisualModel(parameters=parameters.visual)
+        self.addCollisionModel()
+
+    def addMechanicalModel(self, **kwargs): 
+        self.addObject("MechanicalObject", **kwargs)
+
+    def addSimulation(self, **kwargs): 
+        self.parameters.addSimulation(self, **kwargs)
+
+    def addVisualModel(self, **kwargs):
+        self.parameters.addVisualModel(self, **kwargs)
+
+    def addCollisionModel(self):
+        pass 
diff --git a/stlib/core/parameters.py b/stlib/core/parameters.py
@@ -0,0 +1,24 @@
+import dataclasses
+from splib.core.utils import DEFAULT_VALUE
+
+#defaultValueType
+
+@dataclasses.dataclass
+class PrefabParameters(object): 
+    name : str = "Prefab"
+    kwargs : dict = dataclasses.field(default_factory=dict)
+
+    def __getattr__(self, name: str) :
+        if name == "__getstate__":
+            getattr(PrefabParameters, "__getstate__")
+        if name == "__setstate__":
+            getattr(PrefabParameters, "__setstate__")
+
+        try: 
+            a =  self.__getattribute__(name)
+        except Exception as e: 
+            return DEFAULT_VALUE
+        return a
+
+    def to_dict(self):
+        return dataclasses.asdict(self)
diff --git a/stlib/core/visual_model.py b/stlib/core/visual_model.py
@@ -0,0 +1,32 @@
+from stlib.core.parameters import EntityParameters 
+import dataclasses
+import Sofa
+
+class VisualModel(Sofa.Core.BasePrefab):
+    @dataclasses.dataclass
+    class Parameters(EntityParameters):
+        name : str = "VisualModel"
+
+        filename : str = "mesh/sphere_02.obj"
+
+        renderer : dict = dataclasses.field(default_factory=dict)
+        mapping : dict = dataclasses.field(default_factory=dict)
+
+
+
+    def __init__(self, parent=None, parameters : VisualModelParameters = VisualModelParameters()):
+        Sofa.Core.Node.__init__(self, name=parameters.name)
+
+        if parent != None:
+            parent.addChild(self)
+
+        self.addObject("MeshOBJLoader", name="loader", filename=parameters.filename)
+        self.addRenderer(**to_dict(parameters.renderer) | {"src" : "@loader"} )
+        self.addMapping(**to_dict(parameters.mapping) )
+
+    def addRenderer(self, **kwargs):
+        self.addObject("OglModel", name="renderer", **kwargs)
+
+    def addMapping(self, **kwargs):
+        self.addObject("RigidMapping", name="mapping", **kwargs)
+
diff --git a/stlib/examples/PrefabScene_beginner.py b/stlib/examples/PrefabScene_beginner.py
@@ -1,12 +1,12 @@
 from splib.helper import exportScene
-from stlib.misc.entity import Entity
+from stlib.simulated.deformable import Deformable
 
 
 def createScene(root):
-    params = Entity.Deformable.Parameters()
+    params = Deformable.Parameters()
     params.name = "Logo"
     params.topology.filename="share/mesh/SOFA-logo.obj"
-    root.add(Entity.Deformable, params=params)     
+    root.add(Deformable, params=params)     
     return root
 
 

diff --git a/stlib/simulated/deformable.py b/stlib/simulated/deformable.py
@@ -0,0 +1,17 @@
+from stlib.core.entity import Entity
+from stlib.core.parameters import EntityParameters
+import dataclasses
+
+class Deformable(Entity):
+    @dataclasses.dataclass
+    class Parameters(EntityParameters):     
+        addConstitutiveLaw : Callable = lambda x: x
+
+        mass : Optional[float] = None    
+
+        def to_dict(self):
+            return dataclasses.asdict(self)
+
+    def __init__(self, **kwargs):
+        Entity.__init__(self, **kwargs)    
+
diff --git a/stlib/simulated/rigid.py b/stlib/simulated/rigid.py