# file: generate_simbody_source.py # Run this script from the above src directory import os import sys import re from pyplusplus import module_builder from pyplusplus.module_builder.call_policies import * from simtk_wrap_utils import find_path, find_program from simtk_wrap_utils import * from pyplusplus import function_transformers as FT from doxygen_doc_extractor import doxygen_doc_extractor def generate_simbody_source(): """ Use pyplusplus to generate boost.python source code for simtk commmon module. See pyplusplus documentation at http://www.language-binding.net/pyplusplus/pyplusplus.html """ mb = create_module_builder(['simbody/wrap_simbody.h',]) # Delegate wrapping details to other subroutines, to keep this subrouting from growing too large mb.namespace('SimTK').include() perform_usual_wrapping_tasks(mb) disambiguate_typedef_aliases(mb) expose_multibodysystem(mb) expose_variables(mb) expose_matter(mb) expose_subsystems(mb) expose_constraint(mb) expose_mobilizedbody(mb) expose_contactgeometry(mb) expose_generalforcesubsystem(mb) expose_force(mb) expose_body(mb) expose_study(mb) expose_motion(mb) expose_vtkeventreporter(mb) expose_collisiondetectionalgorithm(mb) expose_simbody_arrays(mb) convert_sequences_to_vectors(mb) expose_indexes(mb) wrap_trianglemesh(mb) exclude_compliantcontactsubsystem(mb) wrap_ostream_methods(mb) shorten_array_aliases(mb) expose_free_functions(mb) exclude_rep_classes(mb) exclude_operators(mb) exclude_strange_classes(mb) wrap_properties(mb) # Don't rewrap anything already wrapped by simtk.common etc. # See http://www.language-binding.net/pyplusplus/documentation/multi_module_development.html mb.register_module_dependency('external/std/generated_code/') mb.register_module_dependency('simtkvecs/generated_code/') mb.register_module_dependency('simtkcommon/generated_code/') mb.register_module_dependency('simtkmath/generated_code/') extractor = doxygen_doc_extractor() mb.build_code_creator(module_name='_simbody', doc_extractor=extractor) mb.split_module(os.path.join(os.path.abspath('.'), 'simbody', 'generated_code')) # 4>src\simbody\generated_code\std_vector_Vec3.pypp.cpp(7) : fatal error C1083: Cannot open include file: '_Vec_less__3_comma__double_comma__1__greater___value_traits.pypp.hpp': No such file or directory missing_file = os.path.join(os.path.abspath('.'), 'simbody', 'generated_code', '_Vec_less__3_comma__double_comma__1__greater___value_traits.pypp.hpp') if not os.path.exists(missing_file): open(missing_file, "w").close() missing_file = os.path.join(os.path.abspath('.'), 'simbody', 'generated_code', '_std_vector_int__value_traits.pypp.hpp') if not os.path.exists(missing_file): open(missing_file, "w").close() # If all succeeds, record this accomplishment by touching a particular file open(os.path.join(os.path.abspath('.'), 'simbody', 'generated_code', 'generate_simbody.stamp'), "w").close() def convert_sequences_to_vectors(mb): """ Permit automatic conversion of python sequences to certain std::vectors in method arguments. Particularly those used in constructors of FunctionBased Mobilizers. """ for vec_name in 'vector', 'vector< std::vector >', 'vector const* >': vec = mb.class_(vec_name) # print vec.decl_string # Automatic conversion from python sequence to array vec.include_files.append("to_simtk_sequence_conversion.hpp") vec.add_registration_code(""" // Enable conversion of a python sequence to a std::vector, // particularly for use in method arguments stdvector_from_pysequence< %s >(); """ % vec.decl_string, works_on_instance=False) def exclude_compliantcontactsubsystem(mb): ccs = mb.class_('CompliantContactSubsystem') # 1>CompliantContactSubsystem.pypp.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __thiscall SimTK::CompliantContactSubsystem::calcContactPatchDetails ccs.exclude() def wrap_trianglemesh(mb): geom = mb.namespace('SimTK').class_('ContactGeometry') mesh = geom.class_('TriangleMesh') # WARNING: SimTK::Vec3 SimTK::ContactGeometry::TriangleMesh::findNearestPoint(SimTK::Vec3 const & position, bool & inside, SimTK::UnitVec3 & normal) const [member function] # > execution error W1009: The function takes as argument (name=inside, # > pos=1) non-const reference to Python immutable type - function could # > not be called from Python. Take a look on "Function Transformation" # > functionality and define the transformation. # mesh.member_function('findNearestPoint', arg_types=[None,None,None]).add_transformation( # FT.output('inside'), FT.output('normal')) mesh.member_function('findNearestPoint', arg_types=[None,None,None,None]).add_transformation( FT.output('inside'), FT.output('face'), FT.output('uv')) # mesh.member_function('intersectsRay', arg_types=[None,None,None,None]).add_transformation( # FT.inout('distance'), FT.inout('normal')) mesh.member_function('intersectsRay', arg_types=[None,None,None,None,None]).add_transformation( FT.inout('distance'), FT.inout('face'), FT.inout('uv')) mesh.member_function('findVertexEdges').add_transformation( FT.output('edges')) geom.member_functions('findNearestPoint', arg_types=[None,None,None]).add_transformation( FT.output('inside'), FT.output('normal')) geom.member_functions('intersectsRay', arg_types=[None,None,None,None]).add_transformation( FT.inout('distance'), FT.inout('normal')) geom.member_functions('getBoundingSphere', arg_types=[None,None]).add_transformation( FT.output('center'), FT.output('radius')) def expose_motion(mb): motion = mb.class_('Motion') steady = motion.class_('Steady') # link error steady.member_function('getDefaultRate').exclude() def expose_study(mb): # link errors mb.class_('MultibodyDynamicsStudy').exclude() def expose_collisiondetectionalgorithm(mb): c = mb.class_('CollisionDetectionAlgorithm') # return type compile error: return a pointer which can be NULL c.member_function('getAlgorithm').exclude() def expose_simbody_arrays(module_builder): "Polish up all Array_(whatever) classes" mb = module_builder for array in mb.classes(lambda c: c.name.startswith('Array_')): wrap_array(array, mb) # compile error due to array of abstract class mb.class_('Array_< SimTK::Function_< double >, unsigned int >').exclude() #~ Array__less__SimTK_scope_Markers_scope_Marker_comma__SimTK_scope_Markers_scope_MarkerIx__greater_.pypp.cpp #~ c:\program files\simtk\include\SimTKcommon/internal/Array.h(3033) : error C2512: 'SimTK::Markers::Marker' : no appropriate default constructor available mb.class_('Array_< SimTK::Markers::Marker, SimTK::Markers::MarkerIx >').exclude() mb.classes(lambda c: c.name.startswith('ArrayView')).exclude() def expose_vtkeventreporter(mb): v = mb.class_('VTKEventReporter') v.include() v.held_type = 'std::auto_ptr< %s >' % v.decl_string parent_ptr_type = 'std::auto_ptr< %s >' % v.bases[0].related_class.decl_string mb.add_registration_code( 'bp::implicitly_convertible<%s, %s >();' % (v.held_type, parent_ptr_type) ) # compile errors vr = mb.class_('VTKVisualizer') for fn_name in ['getVtkRenderer', 'updVtkRenderer', 'getVtkRenderWindow', 'updVtkRenderWindow',]: vr.member_function(fn_name).exclude() def expose_body(mb): body = mb.class_('Body') body.include() # Link errors body.class_('Linear').exclude() try: body.class_('Particle').exclude() except: pass def expose_force(mb): force = mb.class_('Force') force.include() # link errors force.class_('Thermostat').member_function('excludeMobilizedBody').exclude() force.class_('Thermostat').member_function('initializeSystemToBathTemperature').exclude() force.class_('Thermostat').member_function('setSystemToTemperature').exclude() def expose_generalforcesubsystem(mb): mb.class_('GeneralForceSubsystem').include() def expose_contactgeometry(mb): mb.class_('OBBTreeNode').constructors().exclude() mb.class_('OBBTreeNode').no_init = True def expose_mobilizedbody(mb): mobilized_body = mb.class_('MobilizedBody') mobilized_body.include() mobilized_body.class_('Ground').include() # Temporarily disable Function based to get past compile error # mobilized_body.class_('FunctionBased').exclude() # Link errors - not implemented? mobilized_body.member_function('isAccelerationAlwaysZero').exclude() mobilized_body.member_function('isVelocityAlwaysZero').exclude() mobilized_body.member_function('setDefaultMotionType').exclude() mobilized_body.member_function('setMotionType').exclude() function_based = mobilized_body.class_('FunctionBased') # Constructors all take arrays of Function pointers, which is trouble # Eliminate constructors that take an argument of SimTK::Array_ > function_based.no_init = True for ctor in function_based.constructors(): if len(ctor.argument_types) >= 4: if 'SimTK::Array_' in ctor.argument_types[3].decl_string: ctor.exclude() if len(ctor.argument_types) >= 6: if 'SimTK::Array_' in ctor.argument_types[5].decl_string: ctor.exclude() #function_based.constructors().exclude() ## Wrap constructors with functions that take std::vector< std::auto_ptr > arguments #mobilized_body.include_files.append("boost/python/stl_iterator.hpp") #fbs = function_based.decl_string #function_based.add_declaration_code("""// #static boost::shared_ptr< %s > constructFunctionBasedMobilizer1( #MobilizedBody& parent, const Transform& inbFrame, #const Body& body, const Transform& outbFrame, int nmobilities, #const bp::object& functions, // <== container that needs special handling #const bp::object& coordIndices, #MobilizedBody::Direction direction=MobilizedBody::Forward) #{ #// convert "functions" argument to an std::vector, transferring ownership of elements #bp::stl_input_iterator< std::auto_ptr< SimTK::Function > > begin_fns(functions), end_fns, f; #std::vector< SimTK::Function const * > fn_ptrs; #for (f = begin_fns; f != end_fns; ++f) #// Odd. "f->release()" won't compile, but "(*f).release()" will... #fn_ptrs.push_back((*f).release()); #// convert coordIndices to vector of vectors #bp::stl_input_iterator< bp::object > begin_indices(coordIndices), end_indices, i; #std::vector< std::vector > coords; #for (i = begin_indices; i != end_indices; ++i) { #bp::stl_input_iterator< int > begin_coords(*i), end_coords, c; #std::vector vi; #for (c = begin_coords; c != end_coords; ++c) #vi.push_back(*c); #coords.push_back(vi); #} #// call the real constructor #return boost::shared_ptr< %s >(new %s( #parent, inbFrame, body, outbFrame, nmobilities, #fn_ptrs, coords, direction)); #}""" % (fbs, fbs, fbs) ) #function_based.add_registration_code( #'def("__init__", bp::make_constructor(constructFunctionBasedMobilizer1))', #tail=False) def expose_constraint(mb): constraint = mb.class_('Constraint') constraint.include() #~ WARNING: void SimTK::Constraint::getNumConstraintEquationsInUse(SimTK::State const & arg0, int & mp, int & mv, int #~ & ma) const [member function] #~ > execution error W1009: The function takes as argument (name=mp, pos=1) #~ > non-const reference to Python immutable type - function could not be #~ > called from Python. Take a look on "Function Transformation" #~ > functionality and define the transformation. constraint.member_function('getNumConstraintEquationsInUse').add_transformation( FT.output('mp'), FT.output('mv'), FT.output('ma')) # Link errors ball = constraint.class_('Ball') ball.member_function('getBallReactionForceOnBody2').exclude() ball.member_function('getBallReactionForceOnBody1').exclude() ball.member_function('getPointOnBody2').exclude() ball.member_function('getPointOnBody1').exclude() constant_angle = constraint.class_('ConstantAngle') constant_angle.member_function('getAngle').exclude() constant_angle.member_function('getBaseAxis').exclude() constant_angle.member_function('getFollowerAxis').exclude() constant_angle.member_function('getTorqueOnFollowerBody').exclude() constant_orientation = constraint.class_('ConstantOrientation') constant_orientation.member_function('getBaseRotation').exclude() constant_orientation.member_function('getFollowerRotation').exclude() constant_orientation.member_function('getTorqueOnFollowerBody').exclude() constant_speed = constraint.class_('ConstantSpeed') constant_speed.member_function('getGeneralizedForce').exclude() constraint.class_('NoSlip1D').member_function('getContactPoint').exclude() constraint.class_('NoSlip1D').member_function('getDirection').exclude() constraint.class_('NoSlip1D').member_function('getForceAtContactPoint').exclude() constraint.class_('PointInPlane').member_function('getFollowerPoint').exclude() constraint.class_('PointInPlane').member_function('getForceOnFollowerPoint').exclude() constraint.class_('PointInPlane').member_function('getPlaneHeight').exclude() constraint.class_('PointInPlane').member_function('getPlaneNormal').exclude() constraint.class_('Rod').member_function('getPointOnBody2').exclude() constraint.class_('Rod').member_function('getPointOnBody1').exclude() constraint.class_('Rod').member_function('getRodLength').exclude() constraint.class_('Rod').member_function('getRodTension').exclude() constraint.class_('Weld').member_function('getAxisDisplayLength').exclude() constraint.class_('Weld').member_function('getFrameOnBody2').exclude() constraint.class_('Weld').member_function('getFrameOnBody1').exclude() constraint.class_('Weld').member_function('getWeldReactionOnBody2').exclude() constraint.class_('Weld').member_function('getWeldReactionOnBody1').exclude() constraint.class_('Weld').member_function('setAxisDisplayLength').exclude() constraint.class_('PointOnLine').member_function('getLineDirection').exclude() constraint.class_('PointOnLine').member_function('getForceOnFollowerPoint').exclude() constraint.class_('PointOnLine').member_function('getFollowerPoint').exclude() constraint.class_('PointOnLine').member_function('getPointOnLine').exclude() constraint.class_('ConstantAcceleration').member_function('getGeneralizedForce').exclude() # Create more flexible constructor for CoordinateCoupler coordcoupler = constraint.class_('CoordinateCoupler') # must add includes to parent, since parent controls the source file constraint.include_files.append("boost/python/stl_iterator.hpp") ccs = coordcoupler.decl_string coordcoupler.add_declaration_code("""// static boost::shared_ptr< %s > constructCoordinateCoupler1( SimbodyMatterSubsystem & matter, const std::auto_ptr& function, const bp::object& coordBody, const bp::object& coordIndex) { // convert "coordBody" argument to an std::vector bp::stl_input_iterator< MobilizedBodyIndex > begin_body(coordBody), end_body, b; std::vector< MobilizedBodyIndex > vbodies; for (b = begin_body; b != end_body; ++b) vbodies.push_back(*b); bp::stl_input_iterator< MobilizerQIndex > begin_index(coordIndex), end_index, i; std::vector< MobilizerQIndex > vindexes; for (i = begin_index; i != end_index; ++i) vindexes.push_back(*i); // call the real constructor std::auto_ptr& ncfn = const_cast&>(function); return boost::shared_ptr< %s >(new %s( matter, ncfn.release(), vbodies, vindexes )); }""" % (ccs, ccs, ccs) ) coordcoupler.add_registration_code( 'def("__init__", bp::make_constructor(constructCoordinateCoupler1))', tail=False) def expose_matter(mb): matter = mb.class_('SimbodyMatterSubsystem') matter.include() # Link errors matter.member_function('calcAccConstraintErr').exclude() matter.member_function('calcAccelerationFromUDot').exclude() matter.member_function('calcDynamicsFromForces').exclude() matter.member_function('calcDynamicsFromForcesAndMotions').exclude() matter.member_function('calcG').exclude() matter.member_function('calcGV').exclude() matter.member_function('calcGt').exclude() matter.member_function('calcGtV').exclude() matter.member_function('calcM').exclude() matter.member_function('calcMInv').exclude() matter.member_function('calcPtV').exclude() matter.member_function('calcResidualForce').exclude() matter.member_function('getTotalMultAlloc').exclude() matter.member_function('getNMobilities').exclude() matter.member_function('getNConstraints').exclude() matter.member_function('getNBodies').exclude() # more link errors smsr = mb.class_('SimbodyMatterSubtreeResults') smsr.member_function('clear').exclude() def expose_subsystems(mb): mb.class_('GeneralContactSubsystem').include() mb.class_('ForceSubsystem').include() mb.class_('DecorationSubsystem').include() # mb.class_('ContactSet').include() mbsys_ref = declarations.reference_t(declarations.declarated_t(mb.class_('MultibodySystem'))) for subsys in mb.classes(lambda c: c.name.endswith('Subsystem')): for ctor in subsys.constructors(arg_types=[mbsys_ref], allow_empty=True): ctor.call_policies = with_custodian_and_ward(1, 2) def expose_variables(mb): #~ WARNING: SimTK::Plugin::m_handle [variable] #~ > compilation error W1036: `Py++` can not expose pointer to Python #~ > immutable member variables. This could be changed in future. mb.variables('m_handle').exclude() mb.variables('atomic').exclude() def expose_multibodysystem(mb): mbsys = mb.class_('MultibodySystem') mbsys.include() # setBlahSubsystem(blah) takes ownership of Blah for fn in mbsys.member_functions(lambda f: f.name.startswith('set') and f.name.endswith('Subsystem')): fn.call_policies = with_custodian_and_ward(2, 1) # TODO check order mbsys.member_function('addForceSubsystem').call_policies = with_custodian_and_ward(2, 1) # TODO check order #~ WARNING: SimTK::MultibodySystem [class] #~ > warning W1031: `Py++` will generate class wrapper - user asked to #~ > expose non - public member function "MultibodySystem" # (presumably private constructor "explicit MultibodySystem(MultibodySystemRep*);" for ctor in mbsys.constructors(arg_types=[None]): if declarations.is_pointer(ctor.argument_types[0]): ctor.exclude() # Constructor taking matter subsystem takes ownership matter_ref = declarations.reference_t(declarations.declarated_t(mb.class_('SimbodyMatterSubsystem'))) mbsys.constructor(arg_types=[matter_ref]).call_policies = with_custodian_and_ward(2, 1) if __name__ == "__main__": generate_simbody_source()