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Enable scene checking when launching through python #616

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Enable scene checking when launching through python #616

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25 changes: 24 additions & 1 deletion bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,6 +43,9 @@ using sofa::simulation::Simulation;
#include <sofa/simulation/init.h>
#include <sofa/simulation/common/init.h>
#include <sofa/simulation/graph/init.h>
#include <sofa/simulation/SceneCheckerVisitor.h>
#include <sofa/simulation/SceneCheckMainRegistry.h>
#include <sofa/helper/system/PluginManager.h>

namespace py = pybind11;

Expand All @@ -64,7 +67,27 @@ PYBIND11_MODULE(Simulation, simulation)
simulation.def("print", [](Node* n){ sofa::simulation::node::print(n); }, sofapython3::doc::simulation::print);
simulation.def("animate", [](Node* n, SReal dt=0.0){ sofa::simulation::node::animate(n, dt); },sofapython3::doc::simulation::animate);
simulation.def("init", [](Node* n){ sofa::simulation::node::init(n); }, sofapython3::doc::simulation::init);
simulation.def("initRoot", [](Node* n){ sofa::simulation::node::initRoot(n); }, sofapython3::doc::simulation::initRoot);
simulation.def("initRoot", [](Node* n)
{
auto& pluginManager = sofa::helper::system::PluginManager::getInstance();
auto res = pluginManager.loadPlugin("SceneChecking");
if(res == sofa::helper::system::PluginManager::PluginLoadStatus::SUCCESS)
{
sofa::simulation::SceneCheckerVisitor sceneCheckerVisitor;

for (const auto& sceneCheck : sofa::simulation::SceneCheckMainRegistry::getRegisteredSceneChecks())
{
sceneCheckerVisitor.addCheck(sceneCheck);
}

sceneCheckerVisitor.validate(n, nullptr);
}
else
{
msg_warning("Could not load SceneChecking, no scene check will be performed.");
}
sofa::simulation::node::initRoot(n);
}, sofapython3::doc::simulation::initRoot);
simulation.def("initVisual", [](Node* n){ n->getVisualLoop()->initStep(sofa::core::visual::VisualParams::defaultInstance()); }, sofapython3::doc::simulation::initVisual);
simulation.def("reset", [](Node* n){ sofa::simulation::node::reset(n); }, sofapython3::doc::simulation::reset);

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