Merge branch 'master' into hugtalbot-patch-5

bakpaul · web-flow · commit e705dca251dc · 2026-02-19T11:00:56.000+01:00
diff --git a/bindings/Modules/tests/SofaConstraintSolver/matrix_access.py b/bindings/Modules/tests/SofaConstraintSolver/matrix_access.py
@@ -39,7 +39,7 @@ def simulate_pendulum(self):
         ext.addObject("DistanceMapping", name="distanceMapping", topology="@../edge_container")
         ext.addObject("UniformConstraint", template="Vec1d", iterative=True)
 
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
         Sofa.Simulation.animate(root, 0.0001)
 
         return root
diff --git a/bindings/Modules/tests/SofaDeformable/SpringForceField.py b/bindings/Modules/tests/SofaDeformable/SpringForceField.py
@@ -38,7 +38,7 @@ class Test(unittest.TestCase):
     def setUp(self) -> None:
         self.root = Sofa.Core.Node()
         create_scene(self.root)
-        Sofa.Simulation.init(self.root)
+        Sofa.Simulation.initRoot(self.root)
 
     def tearDown(self) -> None:
         Sofa.Simulation.unload(self.root)
diff --git a/bindings/Modules/tests/SofaLinearSolver/matrix_access.py b/bindings/Modules/tests/SofaLinearSolver/matrix_access.py
@@ -26,7 +26,7 @@ def simulate_beam(self, linear_solver_template):
         root.addObject('FixedConstraint', indices="@box.indices")
         root.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
 
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
         Sofa.Simulation.animate(root, 0.0001)
 
         return root
diff --git a/bindings/Sofa/package/__init__.py b/bindings/Sofa/package/__init__.py
@@ -13,7 +13,7 @@
     n.addChild("Node2")
     n.addObject("MechanicalObject", name="dofs")
 
-    Sofa.Simulation.init(n)
+    Sofa.Simulation.initRoot(n)
     Sofa.Simulation.print(n)
 
 """
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseMeshTopology.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseMeshTopology.cpp
@@ -65,11 +65,13 @@ void moduleAddBaseMeshTopology(py::module& m) {
     c.def("getNbTriangles", &BaseMeshTopology::getNbTriangles);
     c.def("getNbTetrahedra", &BaseMeshTopology::getNbTetrahedra);
     c.def("getNbHexahedra", &BaseMeshTopology::getNbHexahedra);
+    c.def("getNbPrisms", &BaseMeshTopology::getNbPrisms);
+    c.def("getNbPyramids", &BaseMeshTopology::getNbPyramids);
     c.def("getNbQuads", &BaseMeshTopology::getNbQuads);
     c.def("getNbTetras", &BaseMeshTopology::getNbTetras);
 
     c.def("getEdge", 
-      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, 2> {
+      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Edge::NumberOfNodes> {
           const auto & e = self.getEdge(index);
           return {{e[0], e[1]}};
       },
@@ -78,7 +80,7 @@ void moduleAddBaseMeshTopology(py::module& m) {
     );
 
     c.def("getTriangle",
-      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, 3> {
+      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Triangle::NumberOfNodes> {
           const auto & t = self.getTriangle(index);
           return {{t[0], t[1], t[2]}};
       },
@@ -87,7 +89,7 @@ void moduleAddBaseMeshTopology(py::module& m) {
     );
 
     c.def("getQuad",
-      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, 4> {
+      [] (BaseMeshTopology &self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Quad::NumberOfNodes> {
           const auto & q = self.getQuad(index);
           return {{q[0], q[1], q[2], q[3]}};
       },
@@ -96,7 +98,7 @@ void moduleAddBaseMeshTopology(py::module& m) {
     );
 
     c.def("getTetrahedron",
-      [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, 4> {
+      [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Tetrahedron::NumberOfNodes> {
           const auto & n = self.getTetrahedron(index);
           return {{n[0], n[1], n[2], n[3]}};
       },
@@ -105,14 +107,32 @@ void moduleAddBaseMeshTopology(py::module& m) {
     );
 
     c.def("getHexahedron",
-      [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, 8> {
+      [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Hexahedron::NumberOfNodes> {
           const auto & n = self.getHexahedron(index);
           return {{n[0], n[1], n[2], n[3], n[4], n[5], n[6], n[7]}};
       },
       py::arg("index"),
       "Returns the vertices of Hexahedron at index."
     );
 
+    c.def("getPrism",
+        [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Prism::NumberOfNodes> {
+            const auto & n = self.getPrism(index);
+            return {{n[0], n[1], n[2], n[3], n[4], n[5]}};
+        },
+        py::arg("index"),
+        "Returns the vertices of Prism at index."
+    );
+
+    c.def("getPyramid",
+        [] (BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, sofa::geometry::Pyramid::NumberOfNodes> {
+            const auto & n = self.getPyramid(index);
+            return {{n[0], n[1], n[2], n[3], n[4]}};
+        },
+        py::arg("index"),
+        "Returns the vertices of Pyramid at index."
+    );
+
     c.def("getLocalEdgesInTetrahedron", 
       [] (const BaseMeshTopology & self, const sofa::Index & index) -> std::array<sofa::Index, 2> {
           const auto & e = self.getLocalEdgesInTetrahedron(index);
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseObject.h b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_BaseObject.h
@@ -21,12 +21,10 @@
 #pragma once
 
 #include <pybind11/pybind11.h>
+#include <sofa/core/fwd.h>
 
-namespace sofa::core::objectmodel {
-class BaseObject;
-}
-
-namespace sofapython3 {
+namespace sofapython3
+{
 
 pybind11::object getItem(const sofa::core::objectmodel::BaseObject & self, const std::string& path);
 
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node_doc.h b/bindings/Sofa/src/SofaPython3/Sofa/Core/Binding_Node_doc.h
@@ -48,7 +48,7 @@ static auto Class =
                 # Add a mechanical component to MyNode
                 n.addObject("MechanicalObject", name="dofs")
 
-                Sofa.Simulation.init(root)
+                Sofa.Simulation.initRoot(root)
                 Sofa.Simulation.print(root)
 
         The child nodes, components and parents can be accessed using generator attributes.
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp b/bindings/Sofa/src/SofaPython3/Sofa/Core/Submodule_Core.cpp
@@ -100,7 +100,7 @@ PYBIND11_MODULE(Core, core)
                 # Add a mechanical component to MyNode
                 n.addObject("MechanicalObject", name="dofs")
 
-                Sofa.Simulation.init(root)
+                Sofa.Simulation.initRoot(root)
                 Sofa.Simulation.print(root)
 
        )doc";
diff --git a/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation_doc.h b/bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation_doc.h
@@ -37,7 +37,7 @@ static auto Class =
              SofaRuntime.importPlugin("SofaComponentAll")
 
              n = Sofa.Core.Node("MyNode")
-             Sofa.Simulation.init(n)
+             Sofa.Simulation.initRoot(n)
              Sofa.Simulation.print(n)
         )";
 static auto print =
diff --git a/bindings/Sofa/tests/Core/BaseData.py b/bindings/Sofa/tests/Core/BaseData.py
@@ -255,7 +255,7 @@ def test_DataAsContainerNumpyArray_testIsDirtyOnDoubleAccess_(self):
         root.addObject("PointSetTopologyContainer", points=[[0, 0, 0], [1, 0, 0]])
         modifier = root.addObject("PointSetTopologyModifier")
         mo = root.addObject("MechanicalObject")
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         modifier.addPoints(10, True)
         self.assertEqual(len(mo.position), 12)
@@ -269,7 +269,7 @@ def test_DataAsContainerNumpyArray_testIsDirtyOnDoubleWriteAccess_(self):
         root.addObject("PointSetTopologyContainer", points=[[0, 0, 0], [1, 0, 0]])
         modifier = root.addObject("PointSetTopologyModifier")
         mo = root.addObject("MechanicalObject")
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         modifier.addPoints(10, True)
         with mo.position.writeable() as w:
@@ -283,7 +283,7 @@ def test_DataAsContainerNumpyArray_(self):
         root = create_scene("rootNode")
         v = numpy.array([[0, 0, 0], [1, 1, 1], [2, 2, 2], [3, 3, 3]])
         c = root.addObject("MechanicalObject", name="t", position=v.tolist())
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         numpy.testing.assert_array_equal(c.position.array(), v)
 
diff --git a/bindings/Sofa/tests/Core/Controller.py b/bindings/Sofa/tests/Core/Controller.py
@@ -77,7 +77,7 @@ def test_events(self):
 
             self.assertTrue( hasattr(controller, "iterations") )
 
-            Sofa.Simulation.init(node)
+            Sofa.Simulation.initRoot(node)
             for i in range(10):
                 Sofa.Simulation.animate(node, 0.01)
 
diff --git a/bindings/Sofa/tests/Core/Events.py b/bindings/Sofa/tests/Core/Events.py
@@ -45,7 +45,7 @@ def test_events(self):
         node.addObject("BlockGaussSeidelConstraintSolver", name="constraintSolver")
         controller = node.addObject( MyController() )
 
-        Sofa.Simulation.init(node)
+        Sofa.Simulation.initRoot(node)
         for i in range(10):
             Sofa.Simulation.animate(node, 0.01)
 
diff --git a/bindings/Sofa/tests/Core/ForceField.py b/bindings/Sofa/tests/Core/ForceField.py
@@ -67,7 +67,7 @@ def test_0_explicit(self):
                           use_iterative_solver=False)
 
         # do some steps here
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         for i in range(0, 100):
             Sofa.Simulation.animate(root, root.dt.value)
@@ -80,7 +80,7 @@ def test_1_implicit_iterative(self):
         root = rssffScene(use_implicit_scheme=True, use_iterative_solver=True)
 
         # do some steps here
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         for i in range(0, 100):
             Sofa.Simulation.animate(root, root.dt.value)
@@ -93,7 +93,7 @@ def test_2_implicit_direct(self):
         root = rssffScene(use_implicit_scheme=True, use_iterative_solver=False)
 
         # do some steps here
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
 
         for i in range(0, 100):
             Sofa.Simulation.animate(root, root.dt.value)
@@ -127,7 +127,7 @@ def simulate_beam(linear_solver_template):
         root.addObject('FixedConstraint', indices="@box.indices")
         root.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
 
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
         Sofa.Simulation.animate(root, 0.0001)
 
         return root
diff --git a/bindings/Sofa/tests/Core/Mass.py b/bindings/Sofa/tests/Core/Mass.py
@@ -34,7 +34,7 @@ def simulate_beam(linear_solver_template):
         root.addObject('FixedConstraint', indices="@box.indices")
         root.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
 
-        Sofa.Simulation.init(root)
+        Sofa.Simulation.initRoot(root)
         Sofa.Simulation.animate(root, 0.0001)
 
         return root
diff --git a/bindings/SofaRuntime/CMakeLists.txt b/bindings/SofaRuntime/CMakeLists.txt
@@ -2,10 +2,12 @@ project(Bindings.SofaRuntime)
 
 set(SOURCE_FILES
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/PythonMessageHandler.cpp
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.cpp
 )
 
 set(HEADER_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/PythonMessageHandler.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.h
     ${CMAKE_CURRENT_SOURCE_DIR}/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer_doc.h
 )
diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Module_SofaRuntime.cpp
@@ -62,7 +62,7 @@ using sofapython3::SceneLoaderPY3;
 #include <sofa/core/logging/PerComponentLoggingMessageHandler.h>
 using sofa::helper::logging::MessageDispatcher;
 using sofa::helper::logging::MainPerComponentLoggingMessageHandler;
-using sofa::helper::logging::MainConsoleMessageHandler;
+#include <SofaPython3/SofaRuntime/PythonMessageHandler.h>
 
 #include <sofa/core/init.h>
 #include <sofa/helper/init.h>
@@ -155,9 +155,9 @@ PYBIND11_MODULE(SofaRuntime, m) {
 
     m.def("init", []() {
         MessageDispatcher::clearHandlers();
-        MessageDispatcher::addHandler(&MainConsoleMessageHandler::getInstance());
+        MessageDispatcher::addHandler(&MainPythonMessageHandler::getInstance());
         MessageDispatcher::addHandler(&MainPerComponentLoggingMessageHandler::getInstance());
-    });
+    }, "redirect SOFA messages to Python's sys.stdout");
 
     m.add_object("DataRepository", py::cast(&sofa::helper::system::DataRepository));
     m.add_object("PluginRepository", py::cast(&sofa::helper::system::PluginRepository));
diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/PythonMessageHandler.cpp b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/PythonMessageHandler.cpp
@@ -0,0 +1,94 @@
+/******************************************************************************
+*                 SOFA, Simulation Open-Framework Architecture                *
+*                    (c) 2006 INRIA, USTL, UJF, CNRS, MGH                     *
+*                                                                             *
+* 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/>.        *
+*******************************************************************************
+* Authors: The SOFA Team and external contributors (see Authors.txt)          *
+*                                                                             *
+* Contact information: contact@sofa-framework.org                             *
+******************************************************************************/
+#include <SofaPython3/SofaRuntime/PythonMessageHandler.h>
+#include <pybind11/pybind11.h>
+#include <sofa/helper/logging/Message.h>
+
+namespace sofapython3
+{
+
+namespace
+{
+
+using namespace std::string_literals;
+const std::string red { "\033[31m"s };
+const std::string green { "\033[32m"s };
+const std::string orange { "\033[38;5;214m"s };
+const std::string magenta { "\033[35m"s };
+const std::string blue { "\033[34m"s };
+const std::string reset { "\033[0m"s };
+
+std::string format(const std::string& type, const std::string& color)
+{
+    return color + "[" + type + "] " + reset;
+};
+
+const std::string& getPrefixText(sofa::helper::logging::Message::Type type)
+{
+    static const std::string advice = format("SUGGESTION", green);
+    static const std::string deprecated = format("DEPRECATED", orange);
+    static const std::string warning = format("WARNING", orange);
+    static const std::string info = format("INFO", green);
+    static const std::string error = format("ERROR", red);
+    static const std::string fatal = format("FATAL", magenta);
+    static const std::string empty = format("EMPTY", reset);
+    static const std::string nothing{};
+
+    switch (type)
+    {
+    case sofa::helper::logging::Message::Advice     : return advice;
+    case sofa::helper::logging::Message::Deprecated : return deprecated;
+    case sofa::helper::logging::Message::Warning    : return warning;
+    case sofa::helper::logging::Message::Info       : return info;
+    case sofa::helper::logging::Message::Error      : return error;
+    case sofa::helper::logging::Message::Fatal      : return fatal;
+    case sofa::helper::logging::Message::TEmpty     : return empty;
+
+    case sofa::helper::logging::Message::TypeCount:
+        return nothing;
+    }
+}
+
+}
+
+namespace py { using namespace pybind11; }
+
+void PythonMessageHandler::process(sofa::helper::logging::Message &m)
+{
+    if (!m.sender().empty())
+    {
+        py::print(getPrefixText(m.type()), format(m.sender(), blue), m.messageAsString());
+    }
+    else
+    {
+        py::print(getPrefixText(m.type()), m.messageAsString());
+    }
+}
+
+PythonMessageHandler& MainPythonMessageHandler::getInstance()
+{
+    static PythonMessageHandler s_instance;
+    return s_instance;
+}
+
+} // namespace sofapython3
+
diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/PythonMessageHandler.h b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/PythonMessageHandler.h
diff --git a/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.cpp b/bindings/SofaRuntime/src/SofaPython3/SofaRuntime/Timer/Submodule_Timer.cpp
diff --git a/docs/sphinx/source/content/UsingThePlugin.rst b/docs/sphinx/source/content/UsingThePlugin.rst
diff --git a/examples/MessageHandler.py b/examples/MessageHandler.py
diff --git a/examples/access_energy.py b/examples/access_energy.py
diff --git a/examples/access_mass_matrix.py b/examples/access_mass_matrix.py
diff --git a/examples/example-forcefield.py b/examples/example-forcefield.py
