def as_numpy(data, read_only=-1):
""" maps data content as a numpy array
:param data: the Data
:param readOnly: (boolean) if true you should not modify the numpy array content
if false (read/write), ***you have to call endEdit*** to unlock the Data and set it as dirty
:return: numpy array
"""
if not isinstance(read_only, bool): # backward compatibility
Sofa.msg_deprecated(
"SofaNumpy",
"as_numpy: Data must be explicitly accessed as read-only or read-write. "
"With a read-only access, the numpy array should not be modified. "
"With a read-write access, the Data must be explicitly unlocked and set as dirty with a call to 'Data.endEditVoidPtr'"
)
read_only = True # similar to the first behavior
if read_only:
ptr, shape, typename = data.getValueVoidPtr()
else:
ptr, shape, typename = data.beginEditVoidPtr()
nparray = wrap_as_numpy_array(ptr, shape, typename)
if read_only: nparray.flags['WRITEABLE'] = False
return nparray
def numpy_data(obj, name):
## @deprecated
Sofa.msg_deprecated(
"SofaNumpy",
"numpy_data: Data must be explicitly accessed as read-only or read-write. "
" Use 'read_only()' or 'edit_data' context instead")
data = obj.findData(name)
return as_numpy(data, -1)
def __rename_kwargs__(func_name, kwargs, aliases):
for alias, new in aliases.items():
if alias in kwargs:
if new in kwargs:
raise TypeError(
"'{}' received both '{}' and '{}' while '{}' is deprecated"
.format(func_name, alias, new, alias))
Sofa.msg_deprecated(
"{}' is a deprecated parameter name which has been replaced with {}."
.format(alias, new))
kwargs[new] = kwargs.pop(alias)
def vec_as_numpy((ptr, size, typename)):
'''maps vec as a numpy array'''
Sofa.msg_deprecated("SofaNumpy",
"vec_as_numpy: use wrap_as_numpy_array instead")
type = ctypeFromName.get(typename, None)
if not type: raise Exception("can't map data of type " + typename)
array_type = type * size
array = array_type.from_address(ptr)
return numpy.ctypeslib.as_array(array)
def getVisual(self,solidId,meshId):
""" returns a visual object identified by solidId/meshId
"""
Sofa.msg_deprecated("SofaPython.sml.BaseScene","getVisual is deprecated, access directly self.visuals[solidId][meshId]")
mesh=None
if hasattr(self, 'rigids'): # inserted by Compliant.sml FIXME: parent class should not know child class !
if solidId in self.rigids:
if meshId in self.rigids[solidId].visuals:
mesh = self.rigids[solidId].visuals[meshId]
if hasattr(self, 'visuals'): # inserted by Anatomy.sml FIXME: parent class should not know child class !
if solidId in self.visuals:
if meshId in self.visuals[solidId]:
mesh = self.visuals[solidId][meshId]
return mesh
def deprecated(cls):
# TODO maybe we should print a backtrace to locate the origin?
# or even better, use: https://docs.python.org/2/library/warnings.html#warnings.warn
line = '''class `{0}` from module `{1}` is deprecated. You may now derive from `Sofa.PythonScriptController` and instantiate derived classes directly.'''.format(cls.__name__, cls.__module__)
Sofa.msg_deprecated('SofaPython', line)
Sofa.msg_deprecated('SofaPython',
'note: `createGraph` will no longer be called automatically. You need to call manually from __init__ instead.')
Sofa.msg_deprecated('SofaPython',
'note: `onLoaded` will no longer be called automatically. You need to call manually from __init__ instead.')
return cls
# basic euclidean space operations on float lists. # # author: [email protected] import math import Sofa import __builtin__ as base Sofa.msg_deprecated("Compliant.Vec","Compliant's Vec.py is now deprecated (and will be deleted soon), please use numpy instead" ) def dot(x, y): return base.sum( [xi * yi for xi, yi in zip(x, y) ] ) def norm2(x): return base.sum( [ xi * xi for xi in x] ) def norm(x): return math.sqrt( norm2(x) ) def zero(n): return [0.0] * n def scal( scalar, x ): return [ scalar * xi for xi in x ] def minus(x): return scal(-1, x) def inv(x):
# basic euclidean space operations on float lists. # # author: [email protected] import math import Sofa import __builtin__ as base Sofa.msg_deprecated( "Compliant.Vec", "Compliant's Vec.py is now deprecated (and will be deleted soon), please use numpy instead" ) def dot(x, y): return base.sum([xi * yi for xi, yi in zip(x, y)]) def norm2(x): return base.sum([xi * xi for xi in x]) def norm(x): return math.sqrt(norm2(x)) def zero(n): return [0.0] * n
# Rigid bodies and joints, Compliant-style. # # Authors: [email protected], ... ? # # The basic philosophy is that python provides nice data structures to # define scene component *semantically*. Once this is done, the actual # scene graph must be generated through the 'insert' methods. Please # refer to the python examples in Compliant for more information. # import Sofa Sofa.msg_deprecated( "Compliant.Rigid", "Compliant's Rigid.py is now deprecated (and will be deleted soon), please use StructuralAPI instead" ) from subprocess import Popen, PIPE from numpy import * import SofaPython.Quaternion as quat import Vec as vec import Tools from Tools import cat as concat import os import Frame
# Rigid bodies and joints, Compliant-style. # # Authors: [email protected], ... ? # # The basic philosophy is that python provides nice data structures to # define scene component *semantically*. Once this is done, the actual # scene graph must be generated through the 'insert' methods. Please # refer to the python examples in Compliant for more information. # import Sofa Sofa.msg_deprecated("Compliant.Rigid","Compliant's Rigid.py is now deprecated (and will be deleted soon), please use StructuralAPI instead" ) from subprocess import Popen, PIPE from numpy import * import SofaPython.Quaternion as quat import Vec as vec import Tools from Tools import cat as concat import os import Frame class MassInfo: pass
