[stlib-splib] work on prefabs: cleaning (#501)

* [stlib-splib] cleaning * revert collisionModel
sofa-framework · bakpaul · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025
commit c97bfa36be4a4f83987b6fdffaaf360a46290d36
diff --git a/splib/core/enum_types.py b/splib/core/enum_types.py
@@ -5,34 +5,33 @@ class ConstitutiveLaw(Enum):
     HYPERELASTIC    = 2
 
 class ODEType(Enum):
-    EXPLICIT    = 1
-    IMPLICIT    = 2
+    EXPLICIT        = 1
+    IMPLICIT        = 2
 
 class SolverType(Enum):
-    DIRECT    = 1
-    ITERATIVE = 2
+    DIRECT          = 1
+    ITERATIVE       = 2
 
 class MappingType(Enum):
-    BARYCENTRIC = 1
-    IDENTITY    = 2
-    RIGID       = 3
-
+    BARYCENTRIC     = 1
+    IDENTITY        = 2
+    RIGID           = 3
 
 class ConstraintType(Enum):
-    PROJECTIVE = 1
-    WEAK       = 2
-    LAGRANGIAN = 3
+    PROJECTIVE      = 1
+    WEAK            = 2
+    LAGRANGIAN      = 3
 
 class CollisionPrimitive(Enum):
-    POINTS      = 1
-    LINES       = 2
-    TRIANGLES   = 3
-    SPHERES     = 4
+    POINTS          = 1
+    LINES           = 2
+    TRIANGLES       = 3
+    SPHERES         = 4
 
 class ElementType(Enum):
-    POINTS      = 1
-    EDGES       = 2
-    TRIANGLES   = 3
-    QUAD        = 4
-    TETRA       = 5
-    HEXA        = 6
+    POINTS          = 1
+    EDGES           = 2
+    TRIANGLES       = 3
+    QUADS           = 4
+    TETRAHEDRONS    = 5
+    HEXAHEDRONS     = 6
diff --git a/splib/mechanics/collision_model.py b/splib/mechanics/collision_model.py
@@ -3,21 +3,28 @@
 from splib.core.enum_types import CollisionPrimitive
 
 
-
 @ReusableMethod
-def addCollisionModels(node, primitive : CollisionPrimitive, topology=DEFAULT_VALUE, selfCollision=DEFAULT_VALUE, proximity=DEFAULT_VALUE, group=DEFAULT_VALUE, contactStiffness=DEFAULT_VALUE, contactFriction=DEFAULT_VALUE,spheresRadius=DEFAULT_VALUE,**kwargs):
+def addCollisionModels(node, primitive : CollisionPrimitive, 
+                       topology=DEFAULT_VALUE, 
+                       selfCollision=DEFAULT_VALUE, 
+                       proximity=DEFAULT_VALUE, 
+                       group=DEFAULT_VALUE, 
+                       contactStiffness=DEFAULT_VALUE, 
+                       contactFriction=DEFAULT_VALUE, 
+                       spheresRadius=DEFAULT_VALUE, 
+                       **kwargs):
     match primitive:
         case CollisionPrimitive.POINTS:
-            node.addObject("PointCollisionModel",name="PointCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, **kwargs)
+            node.addObject("PointCollisionModel", name="PointCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, **kwargs)
             return
-        case CollisionPrimitive.LINES:
-            node.addObject("LineCollisionModel",name="EdgeCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
+        case CollisionPrimitive.LINES:            
+            node.addObject("LineCollisionModel", name="EdgeCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, **kwargs)
             return
         case CollisionPrimitive.TRIANGLES:
-            node.addObject("TriangleCollisionModel",name="TriangleCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
+            node.addObject("TriangleCollisionModel", name="TriangleCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
             return
         case CollisionPrimitive.SPHERES:
-            node.addObject("SphereCollisionModel",name="SphereCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, radius=spheresRadius, **kwargs)
+            node.addObject("SphereCollisionModel", name="SphereCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, radius=spheresRadius, **kwargs)
             return
         case _:
             return

diff --git a/splib/mechanics/hyperelasticity.py b/splib/mechanics/hyperelasticity.py
@@ -6,7 +6,7 @@
 @ReusableMethod
 def addHyperelasticity(node,elem:ElementType,materialName=DEFAULT_VALUE, parameterSet=DEFAULT_VALUE, matrixRegularization=DEFAULT_VALUE,**kwargs):
     match elem:
-        case ElementType.TETRA:
+        case ElementType.TETRAHEDRONS:
             node.addObject("TetrahedronHyperelasticityFEMForceField",name="constitutiveLaw", materialName=materialName, parameterSet=parameterSet, matrixRegularization=matrixRegularization, **kwargs)
             return
         case _:

diff --git a/splib/mechanics/linear_elasticity.py b/splib/mechanics/linear_elasticity.py
@@ -12,13 +12,13 @@ def addLinearElasticity(node,elem:ElementType,youngModulus=DEFAULT_VALUE, poisso
         case ElementType.TRIANGLES:
             node.addObject("TriangleFEMForceField",name="constitutiveLaw", youngModulus=youngModulus, poissonRatio=poissonRatio, method=method,**kwargs)
             return
-        case ElementType.QUAD:
+        case ElementType.QUADS:
             node.addObject("QuadBendingFEMForceField",name="constitutiveLaw", youngModulus=youngModulus, poissonRatio=poissonRatio, method=method,**kwargs)
             return
-        case ElementType.TETRA:
+        case ElementType.TETRAHEDRONS:
             node.addObject("TetrahedronFEMForceField",name="constitutiveLaw", youngModulus=youngModulus, poissonRatio=poissonRatio, method=method,**kwargs)
             return
-        case ElementType.HEXA:
+        case ElementType.HEXAHEDRONS:
             node.addObject("HexahedronFEMForceField",name="constitutiveLaw", youngModulus=youngModulus, poissonRatio=poissonRatio, method=method,**kwargs)
             return
         case _:

diff --git a/splib/topology/dynamic.py b/splib/topology/dynamic.py
@@ -53,15 +53,15 @@ def addDynamicTopology(node,type:ElementType,**kwargs):
         case ElementType.TRIANGLES:
             addTriangleTopology(node,**kwargs)
             return
-        case ElementType.QUAD:
+        case ElementType.QUADS:
             addQuadTopology(node,**kwargs)
             return
-        case ElementType.TETRA:
+        case ElementType.TETRAHEDRONS:
             addTetrahedronTopology(node,**kwargs)
             return
-        case ElementType.HEXA:
+        case ElementType.HEXAHEDRONS:
             addHexahedronTopology(node,**kwargs)
             return
         case _:
-            print('Topology type should be one of the following : "ElementType.POINTS, ElementType.EDGES, ElementType.TRIANGLES, ElementType.QUAD, ElementType.TETRA, ElementType.HEXA" ')
+            print('Topology type should be one of the following : "ElementType.POINTS, ElementType.EDGES, ElementType.TRIANGLES, ElementType.QUADS, ElementType.TETRAHEDRONS, ElementType.HEXAHEDRONS" ')
             return
diff --git a/stlib/geometry/__geometry__.py b/stlib/geometry/__geometry__.py
@@ -33,11 +33,8 @@ class GeometryParameters(BaseParameters):
     dynamicTopology : bool = False
 
 
-
-
-
 class Geometry(BasePrefab):
-    container :  Object # This should be more specialized into the right SOFA type
+    container : Object # This should be more specialized into the right SOFA type
     modifier : Optional[Object]
 
     params : GeometryParameters

diff --git a/stlib/geometry/extract.py b/stlib/geometry/extract.py
@@ -8,27 +8,32 @@
 
 
 class ExtractInternalDataProvider(InternalDataProvider):
-    destElemType : ElementType
-    fromElemType : ElementType
+    destElementType : ElementType
+    fromElemenType : ElementType
     fromNodeName : str
 
+    def __init__(self, destElementType : ElementType, fromElementType : ElementType, fromNodeName : str):
+        self.destElementType = destElementType,
+        self.fromElementType = fromElementType,
+        self.fromNodeName = fromNodeName
+
     def __post_init__(self):
-        if(not (self.fromElemType == ElementType.TETRA and self.destElemType == ElementType.TRIANGLES)
-           and not (self.fromElemType == ElementType.HEXA and self.destElemType == ElementType.QUAD) ):
-            raise ValueError("Only configuration possible are 'Tetra to Triangle' and 'Hexa to quad'")
+        if(not (self.fromElementType == ElementType.TETRAHEDRONS and self.destElementType == ElementType.TRIANGLES)
+           and not (self.fromElementType == ElementType.HEXAHEDRONS and self.destElementType == ElementType.QUADS) ):
+            raise ValueError("Only configuration possible are 'Tetrahedrons to Triangles' and 'Hexahedrons to Quads'")
 
         InternalDataProvider.__init__(self)
 
 
     def generateAttribute(self, parent : Geometry):                
-        tmn = parent.addChild("topologicalMappingNode")
+        tmn = parent.addChild("TopologicalMappingNode")
 
         #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.fromNodeName).container.linkpath
-        addDynamicTopology(tmn, type=self.destElemType)
-        if self.fromElemType == ElementType.TETRA:
+        addDynamicTopology(tmn, type=self.destElementType)
+        if self.fromElementType == ElementType.TETRAHEDRONS:
             tmn.addObject("Tetra2TriangleTopologicalMapping", input=fromLink, output=tmn.container.linkpath)
-        elif self.fromElemType == ElementType.HEXA:
+        elif self.fromElementType == ElementType.HEXAHEDRONS:
             tmn.addObject("Hexa2QuadTopologicalMapping", input=fromLink, output=tmn.container.linkpath)
 
         self.position = tmn.container.position.linkpath
@@ -41,6 +46,14 @@ def generateAttribute(self, parent : Geometry):
 
 
 class ExtractParameters(GeometryParameters):
-    def __init__(self, fromGeometry : GeometryParameters, destElementType : ElementType,  dynamicTopology = False, ):
-        GeometryParameters.__init__(data = ExtractInternalDataProvider(destElemType = destElementType, fromElemType = fromGeometry.elementType,fromNodeName = fromGeometry.name), dynamicTopology = dynamicTopology, elementType = destElementType)
+    def __init__(self, 
+                 fromGeometry : GeometryParameters, 
+                 destElementType : ElementType,  
+                 dynamicTopology = False, ):
+        GeometryParameters.__init__(self,
+                                    data = ExtractInternalDataProvider(destElementType = destElementType, 
+                                                                       fromElementType = fromGeometry.elementType,
+                                                                       fromNodeName = fromGeometry.name), 
+                                    dynamicTopology = dynamicTopology, 
+                                    elementType = destElementType)
 
diff --git a/stlib/geometry/file.py b/stlib/geometry/file.py
@@ -12,9 +12,8 @@ class FileInternalDataProvider(InternalDataProvider):
     def __post_init__(self, **kwargs):
         InternalDataProvider.__init__(self,**kwargs)
 
-    def generateAttribute(self, parent : Geometry):        
-
-        loadMesh(parent, self.filename)
+    def generateAttribute(self, parent : Geometry):     
+        loadMesh(parent, self.filename)      
 
         self.position = str(parent.loader.position.linkpath)
         self.edges = str(parent.loader.edges.linkpath)
@@ -26,6 +25,9 @@ def generateAttribute(self, parent : Geometry):
 
 
 class FileParameters(GeometryParameters):
-    def __init__(self,  filename, dynamicTopology = False, elementType : ElementType = None ):
-        GeometryParameters.__init__(self,data = FileInternalDataProvider(filename), dynamicTopology = dynamicTopology, elementType = elementType)
+    def __init__(self, filename, dynamicTopology = False, elementType : ElementType = None ):
+        GeometryParameters.__init__(self,
+                                    data = FileInternalDataProvider(filename), 
+                                    dynamicTopology = dynamicTopology, 
+                                    elementType = elementType)
 
diff --git a/stlib/prefabs/collision.py b/stlib/prefabs/collision.py
@@ -9,14 +9,10 @@
 
 @dataclasses.dataclass
 class CollisionParameters(BaseParameters):
-    primitives : list[CollisionPrimitive] = dataclasses.field(default_factory = lambda :[CollisionPrimitive.POINTS])
+    primitives : list[CollisionPrimitive] = dataclasses.field(default_factory = lambda :[CollisionPrimitive.TRIANGLES])
 
     selfCollision : Optional[bool] = DEFAULT_VALUE
-    proximity : Optional[float] = DEFAULT_VALUE
     group : Optional[int] = DEFAULT_VALUE
-    contactStiffness : Optional[float] = DEFAULT_VALUE
-    contactFriction : Optional[float] = DEFAULT_VALUE
-    spheresRadius : Optional[float] = DEFAULT_VALUE
 
     geometry : GeometryParameters = dataclasses.field(default_factory = lambda : GeometryParameters())
     addMapping : Optional[Callable] = None
@@ -28,16 +24,12 @@ def __init__(self, params: CollisionParameters):
 
         geom = self.add(Geometry, params.geometry)
 
-        self.addObject("MechanicalObject",template="Vec3", position=f"@{params.geometry.name}/container.position")
+        self.addObject("MechanicalObject", template="Vec3", position=f"@{params.geometry.name}/container.position")
         for primitive in params.primitives:
-            addCollisionModels(self,primitive,
+            addCollisionModels(self, primitive,
                                topology=f"@{params.geometry.name}/container",
                                selfCollision=params.selfCollision, 
-                               proximity=params.proximity, 
                                group=params.group, 
-                               contactStiffness=params.contactStiffness, 
-                               contactFriction=params.contactFriction,
-                               spheresRadius=params.spheresRadius, 
                                **params.kwargs)
 
         if params.addMapping is not None:
@@ -50,7 +42,14 @@ def getParameters(**kwargs) -> CollisionParameters:
 
 def createScene(root):
 
+    root.addObject("VisualStyle", displayFlags="showCollisionModels")
+
     # Create a visual from a mesh file
     params = Collision.getParameters()
     params.geometry = FileParameters(filename="mesh/cube.obj")
+    # Expert parameters
+    params.kwargs = {
+                        "contactStiffness": 100.0,
+                        "contactFriction": 0.5
+                    }
     root.add(Collision, params)
diff --git a/stlib/prefabs/visual.py b/stlib/prefabs/visual.py
@@ -1,7 +1,9 @@
 from stlib.core.basePrefab import BasePrefab
 from stlib.core.baseParameters import BaseParameters, Callable, Optional, dataclasses, Any
 from stlib.geometry import Geometry, GeometryParameters
+from stlib.geometry.extract import ExtractParameters
 from stlib.geometry.file import FileParameters
+from splib.core.enum_types import ElementType
 from Sofa.Core import Object 
 
 @dataclasses.dataclass
@@ -32,6 +34,15 @@ def getParameters(**kwargs) -> VisualParameters:
 def createScene(root):
 
     # Create a visual from a mesh file
-    params = Visual.getParameters()
+    params = Visual.getParameters() 
+    params.name = "VisualFromFile"
     params.geometry = FileParameters(filename="mesh/cube.obj")
     root.add(Visual, params)
+
+
+    # Create a visual from a mesh file
+    # params = Visual.getParameters()  
+    # params.name = "ExtractedVisual"
+    # params.geometry = ExtractParameters(fromGeometry=FileParameters(filename="mesh/cube.vtk"), 
+    #                                     destElementType=ElementType.TRIANGLES)
+    # root.add(Visual, params)