// TODO inefficient
// have a look to how to directlry bind sparse Eigen matrices
extern "C" PyObject * BaseMapping_getJs(PyObject * self, PyObject * /*args*/)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
const helper::vector<sofa::defaulttype::BaseMatrix*>* Js = mapping->getJs();
PyObject* Jspython = PyList_New(Js->size());
for( size_t i=0 ; i<Js->size() ; ++i )
{
sofa::defaulttype::BaseMatrix* J = (*Js)[i];
PyObject* Jpython = PyList_New(J->rows());
for( sofa::defaulttype::BaseMatrix::Index row=0 ; row<J->rows() ; ++row )
{
PyObject* Jrowpython = PyList_New(J->cols());
for( sofa::defaulttype::BaseMatrix::Index col=0 ; col<J->cols() ; ++col )
PyList_SetItem( Jrowpython, col, PyFloat_FromDouble( J->element(row,col) ) );
PyList_SetItem( Jpython, row, Jrowpython );
}
PyList_SetItem( Jspython, i, Jpython );
}
return Jspython;
}
bool BaseMultiMappingElement::initNode()
{
using namespace core::objectmodel;
using namespace core;
bool result = ObjectElement::initNode();
if( result )
{
BaseMapping* multimapping = this->getTypedObject()->toBaseMapping();
NodeElement* currentNodeElement = dynamic_cast<NodeElement *>(getParent());
simulation::Node* currentNode = dynamic_cast<simulation::Node* >( currentNodeElement->getTypedObject() );
helper::vector<core::BaseState*> inputStates = multimapping->getFrom();
helper::vector<core::BaseState*> outputStates = multimapping->getTo();
helper::vector<core::BaseState*>::iterator iterState;
helper::vector<simulation::Node*> inputNodes, outputNodes;
/* get the Nodes corresponding to each input BaseState context */
for( iterState = inputStates.begin(); iterState != inputStates.end(); ++iterState)
{
simulation::Node* node = dynamic_cast< simulation::Node* >((*iterState)->getContext());
inputNodes.push_back(node);
}
/* */
/* get the Nodes corresponding to each output BaseState context */
for( iterState = outputStates.begin(); iterState != outputStates.end(); ++iterState)
{
simulation::Node* node = dynamic_cast< simulation::Node* >((*iterState)->getContext());
outputNodes.push_back(node);
}
helper::vector<simulation::Node*>::iterator iterNode;
BaseNode* currentBaseNode;
/* filter out inputNodes which already belong to the currentNode ancestors */
helper::vector<simulation::Node*> otherInputNodes;
helper::vector<simulation::Node*> ancestorInputNodes;
iterNode = inputNodes.begin();
currentBaseNode = currentNode;
for( iterNode = inputNodes.begin(); iterNode != inputNodes.end(); ++iterNode)
{
if( !currentBaseNode->hasAncestor(*iterNode) )
{
otherInputNodes.push_back(*iterNode);
}
else
{
ancestorInputNodes.push_back(*iterNode);
}
}
updateSceneGraph(multimapping, ancestorInputNodes, otherInputNodes, outputNodes );
}
return result;
}
extern "C" PyObject * BaseMapping_applyJ(PyObject * self, PyObject * /*args*/)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
mapping->applyJ(MechanicalParams::defaultInstance(),VecDerivId::velocity(),ConstVecDerivId::velocity());
Py_RETURN_NONE;
}
extern "C" PyObject * BaseMapping_apply(PyObject * self, PyObject * /*args*/)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
mapping->apply(MechanicalParams::defaultInstance(),VecCoordId::position(),ConstVecCoordId::position());
Py_RETURN_NONE;
}
extern "C" PyObject * BaseMapping_getTo(PyObject * self, PyObject * /*args*/)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
helper::vector<BaseState*> to = mapping->getTo();
PyObject *list = PyList_New(to.size());
for (unsigned int i=0; i<to.size(); ++i)
PyList_SetItem(list,i,sofa::PythonFactory::toPython(to[i]));
return list;
}
extern "C" PyObject * BaseMapping_setTo(PyObject * self, PyObject * args)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
PyObject* pyTo;
if (!PyArg_ParseTuple(args, "O",&pyTo))
Py_RETURN_NONE;
BaseState* to=((PySPtr<Base>*)pyTo)->object->toBaseState();
if (!to)
{
PyErr_BadArgument();
Py_RETURN_NONE;
}
mapping->setTo( to );
Py_RETURN_NONE;
}
extern "C" PyObject * BaseMapping_setFrom(PyObject * self, PyObject * args)
{
BaseMapping* mapping = ((PySPtr<Base>*)self)->object->toBaseMapping();
PyObject* pyFrom;
if (!PyArg_ParseTuple(args, "O",&pyFrom))
{
SP_MESSAGE_ERROR( "BaseMapping_setFrom: a BaseState* is required" );
Py_RETURN_NONE;
}
BaseState* from=((PySPtr<Base>*)pyFrom)->object->toBaseState();
if (!from)
{
SP_MESSAGE_ERROR( "BaseMapping_setFrom: is not a BaseState*" );
PyErr_BadArgument();
Py_RETURN_NONE;
}
mapping->setFrom( from );
Py_RETURN_NONE;
}
