[Prefabs] Reorder files to match concepts (#547)

* Reorder files to match concepts * Put every prefab in root to avoid having a useless prefix * Fix bad import in bunny example * Update examples/stlib/PrefabScene_beginner.py Co-authored-by: EulalieCoevoet <eulalie.coevoet@gmail.com> --------- Co-authored-by: EulalieCoevoet <eulalie.coevoet@gmail.com>
sofa-framework · bakpaul · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025
commit 75fa28f6b6b6989fdfe5fbb993da1d8bb8726337
diff --git a/examples/stlib/PrefabScene_beginner.py b/examples/stlib/PrefabScene_beginner.py
@@ -1,7 +1,7 @@
-from stlib.entities.rigid import Rigid
-from stlib.entities.deformable import Deformable
-from stlib.geometry.cube import CubeParameters
-from stlib.geometry.file import FileParameters
+from stlib.materials.rigid import Rigid
+from stlib.materials.deformable import Deformable
+from stlib.geometries.cube import CubeParameters
+from stlib.geometries.file import FileParameters
 from splib.simulation.headers import setupLagrangianCollision
 from splib.simulation.linear_solvers import addLinearSolver
 from splib.simulation.ode_solvers import addImplicitODE

diff --git a/stlib/__init__.py b/stlib/__init__.py
@@ -1,4 +1,4 @@
-__all__ = ["core","entities","prefabs","shapes"]
+__all__ = ["core","entities","geometries","materials","collision","visual"]
 
 import Sofa.Core
 def __genericAdd(self : Sofa.Core.Node, typeName, **kwargs):
@@ -11,7 +11,7 @@ def findName(cname, names):
             rname = cname + str(i+1)
         return rname
 
-    # Check if a name is provided, if not, use the one of the class
+    # Check if a name is provided, if not, use the one of the class
     params = kwargs.copy()
     isNode = False
     if "name" not in params:
@@ -31,7 +31,7 @@ def findName(cname, names):
         else:
             raise RuntimeError("Invalid argument ", typeName)
 
-    # Check if the name already exists, if this happens, create a new one.
+    # Check if the name already exists, if this happens, create a new one.
     if params["name"] in self.children or params["name"] in self.objects:
         names = {node.name.value for node in self.children}
         names = names.union({object.name.value for object in self.objects})

diff --git a/stlib/prefabs/collision.py → stlib/collision.py b/stlib/prefabs/collision.py → stlib/collision.py
@@ -1,7 +1,7 @@
 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.file import FileParameters
+from stlib.core.baseParameters import BaseParameters, Optional, dataclasses
+from stlib.geometries import Geometry, GeometryParameters
+from stlib.geometries.file import FileParameters
 from splib.core.enum_types import CollisionPrimitive
 from splib.core.utils import DEFAULT_VALUE
 from splib.mechanics.collision_model import addCollisionModels

diff --git a/stlib/entities/__entity__.py b/stlib/entities/__entity__.py
@@ -1,15 +1,12 @@
 from stlib.core.baseParameters import BaseParameters
-from stlib.core.basePrefab import BasePrefab
-from stlib.prefabs.collision import CollisionParameters, Collision
-from stlib.prefabs.visual import VisualParameters, Visual
-from stlib.prefabs.material import Material, MaterialParameters
-from stlib.geometry import Geometry
-from stlib.geometry.extract import ExtractParameters
+from stlib.collision import CollisionParameters, Collision
+from stlib.visual import VisualParameters, Visual
+from stlib.materials import Material, MaterialParameters
+from stlib.geometries import Geometry
 import dataclasses
-from typing import Callable, Optional, overload, Any
-from stlib.geometry import GeometryParameters
+from typing import Callable, Optional
+from stlib.geometries import GeometryParameters
 from splib.core.enum_types import StateType
-import Sofa
 from stlib.core.basePrefab import BasePrefab
 
 

diff --git a/stlib/entities/deformable/__init__.py b/stlib/entities/deformable/__init__.py
diff --git a/stlib/entities/rigid/__init__.py b/stlib/entities/rigid/__init__.py
diff --git a/stlib/entities/rigid/__parameters__.py b/stlib/entities/rigid/__parameters__.py
diff --git a/stlib/entities/rigid/__rigid__.py b/stlib/entities/rigid/__rigid__.py
diff --git a/stlib/geometry/__geometry__.py → stlib/geometries/__geometry__.py b/stlib/geometry/__geometry__.py → stlib/geometries/__geometry__.py
diff --git a/stlib/geometry/__init__.py → stlib/geometries/__init__.py b/stlib/geometry/__init__.py → stlib/geometries/__init__.py
diff --git a/stlib/geometry/cube.py → stlib/geometries/cube.py b/stlib/geometry/cube.py → stlib/geometries/cube.py
@@ -1,4 +1,4 @@
-from stlib.geometry import GeometryParameters
+from stlib.geometries import GeometryParameters
 
 class CubeParameters(GeometryParameters):
     def __init__(self,  center, edgeLength, pointPerEdge, dynamicTopology = False):

diff --git a/stlib/geometry/extract.py → stlib/geometries/extract.py b/stlib/geometry/extract.py → stlib/geometries/extract.py
@@ -1,4 +1,4 @@
-from stlib.geometry import GeometryParameters, InternalDataProvider, Geometry
+from stlib.geometries import GeometryParameters, InternalDataProvider, Geometry
 from stlib.core.baseParameters import dataclasses
 from splib.topology.dynamic import addDynamicTopology
 from splib.topology.loader import loadMesh

diff --git a/stlib/geometry/file.py → stlib/geometries/file.py b/stlib/geometry/file.py → stlib/geometries/file.py
@@ -1,4 +1,4 @@
-from stlib.geometry import GeometryParameters, InternalDataProvider, Geometry
+from stlib.geometries import GeometryParameters, InternalDataProvider, Geometry
 from stlib.core.baseParameters import dataclasses
 from splib.topology.loader import loadMesh
 from splib.core.enum_types import ElementType

diff --git a/stlib/geometry/sphere.py → stlib/geometries/sphere.py b/stlib/geometry/sphere.py → stlib/geometries/sphere.py
@@ -1,4 +1,4 @@
-from stlib.geometry import GeometryParameters
+from stlib.geometries import GeometryParameters
 
 class SphereParameters(GeometryParameters):
     def __init__(self,  center, radius, pointPerRad, dynamicTopology = False):

diff --git a/stlib/materials/__init__.py b/stlib/materials/__init__.py
@@ -0,0 +1 @@
+from .__material__ import *
diff --git a/stlib/prefabs/material.py → stlib/materials/__material__.py b/stlib/prefabs/material.py → stlib/materials/__material__.py
@@ -11,7 +11,7 @@ class MaterialParameters(BaseParameters):
 
     massDensity : float = DEFAULT_VALUE
     massLumping : bool = DEFAULT_VALUE
-    
+
     stateType : StateType = StateType.VEC3
 
     addMaterial : Optional[Callable] = lambda node : addMass(node, node.parameters.stateType, massDensity=node.parameters.massDensity, lumping=node.parameters.massLumping)
@@ -24,7 +24,7 @@ class Material(BasePrefab):
 
     def __init__(self, parameters: MaterialParameters):
         BasePrefab.__init__(self, parameters)
-        
+
 
     def init(self):
         self.addObject("MechanicalObject", name="States", template=str(self.parameters.stateType))

diff --git a/stlib/entities/deformable/__deformable__.py → stlib/materials/deformable.py b/stlib/entities/deformable/__deformable__.py → stlib/materials/deformable.py
@@ -1,5 +1,5 @@
-from stlib.prefabs.material import MaterialParameters
-from splib.core.enum_types import ConstitutiveLaw, ElementType
+from stlib.materials import MaterialParameters
+from splib.core.enum_types import ConstitutiveLaw
 from stlib.core.baseParameters import Callable, Optional, dataclasses
 from splib.mechanics.linear_elasticity import *
 from splib.mechanics.hyperelasticity import *
@@ -26,9 +26,8 @@ def __addDeformableMaterial(node):
 
 def createScene(root) :
     from stlib.entities import Entity, EntityParameters
-    from stlib.prefabs.visual import VisualParameters
-    from stlib.geometry.extract import ExtractParameters
-    from stlib.geometry.file import FileParameters    
+    from stlib.visual import VisualParameters
+    from stlib.geometries.file import FileParameters
 
     root.addObject("VisualStyle", displayFlags=["showBehavior"])
 

diff --git a/stlib/materials/rigid.py b/stlib/materials/rigid.py
@@ -0,0 +1,13 @@
+from stlib.core.baseParameters import BaseParameters, Optional, dataclasses
+from stlib.geometries import GeometryParameters
+
+
+
+@dataclasses.dataclass
+class RigidParameters(BaseParameters):
+
+    geometry : GeometryParameters
+    mass : Optional[float] = None
+
+    def toDict(self):
+        return dataclasses.asdict(self)
diff --git a/stlib/misc/entity.py b/stlib/misc/entity.py
diff --git a/stlib/misc/softrobots.py b/stlib/misc/softrobots.py