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Add the kcsolve pybind11 module exposing the KCSolve C++ API to Python: - PyIKCSolver trampoline enabling Python IKCSolver subclasses - Bindings for all 5 enums, 10 structs, IKCSolver, and OndselAdapter - Module functions wrapping SolverRegistry (available, load, joints_for, set_default, get_default, register_solver) - PySolverHolder class forwarding virtual calls with GIL acquisition - register_solver() for runtime Python solver registration IKCSolver constructor moved from protected to public for pybind11 trampoline access (class remains abstract via 3 pure virtuals). Includes 16 Python tests covering module import, type bindings, enum values, registry functions, Python solver subclassing, and full register/load/solve round-trip. Closes #288
122 lines
4.4 KiB
C++
122 lines
4.4 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
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/****************************************************************************
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* *
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* Copyright (c) 2025 Kindred Systems <development@kindred-systems.com> *
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* *
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* This file is part of FreeCAD. *
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* *
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* FreeCAD is free software: you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as *
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* published by the Free Software Foundation, either version 2.1 of the *
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* License, or (at your option) any later version. *
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* *
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* FreeCAD is distributed in the hope that it will be useful, but *
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* WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public *
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* License along with FreeCAD. If not, see *
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* <https://www.gnu.org/licenses/>. *
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* *
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***************************************************************************/
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#ifndef KCSOLVE_PYIKCSOLVER_H
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#define KCSOLVE_PYIKCSOLVER_H
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#include <pybind11/pybind11.h>
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#include <pybind11/stl.h>
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#include <Mod/Assembly/Solver/IKCSolver.h>
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namespace KCSolve
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{
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/// pybind11 trampoline class for IKCSolver.
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/// Enables Python subclasses that override virtual methods.
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class PyIKCSolver : public IKCSolver
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{
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public:
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using IKCSolver::IKCSolver;
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// ── Pure virtuals ──────────────────────────────────────────────
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std::string name() const override
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{
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PYBIND11_OVERRIDE_PURE(std::string, IKCSolver, name);
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}
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std::vector<BaseJointKind> supported_joints() const override
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{
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PYBIND11_OVERRIDE_PURE(std::vector<BaseJointKind>, IKCSolver, supported_joints);
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}
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SolveResult solve(const SolveContext& ctx) override
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{
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PYBIND11_OVERRIDE_PURE(SolveResult, IKCSolver, solve, ctx);
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}
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// ── Virtuals with defaults ─────────────────────────────────────
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SolveResult update(const SolveContext& ctx) override
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{
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PYBIND11_OVERRIDE(SolveResult, IKCSolver, update, ctx);
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}
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SolveResult pre_drag(const SolveContext& ctx,
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const std::vector<std::string>& drag_parts) override
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{
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PYBIND11_OVERRIDE(SolveResult, IKCSolver, pre_drag, ctx, drag_parts);
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}
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SolveResult drag_step(
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const std::vector<SolveResult::PartResult>& drag_placements) override
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{
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PYBIND11_OVERRIDE(SolveResult, IKCSolver, drag_step, drag_placements);
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}
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void post_drag() override
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{
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PYBIND11_OVERRIDE(void, IKCSolver, post_drag);
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}
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SolveResult run_kinematic(const SolveContext& ctx) override
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{
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PYBIND11_OVERRIDE(SolveResult, IKCSolver, run_kinematic, ctx);
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}
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std::size_t num_frames() const override
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{
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PYBIND11_OVERRIDE(std::size_t, IKCSolver, num_frames);
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}
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SolveResult update_for_frame(std::size_t index) override
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{
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PYBIND11_OVERRIDE(SolveResult, IKCSolver, update_for_frame, index);
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}
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std::vector<ConstraintDiagnostic> diagnose(const SolveContext& ctx) override
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{
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PYBIND11_OVERRIDE(std::vector<ConstraintDiagnostic>, IKCSolver, diagnose, ctx);
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}
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bool is_deterministic() const override
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{
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PYBIND11_OVERRIDE(bool, IKCSolver, is_deterministic);
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}
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void export_native(const std::string& path) override
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{
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PYBIND11_OVERRIDE(void, IKCSolver, export_native, path);
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}
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bool supports_bundle_fixed() const override
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{
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PYBIND11_OVERRIDE(bool, IKCSolver, supports_bundle_fixed);
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}
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};
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} // namespace KCSolve
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#endif // KCSOLVE_PYIKCSOLVER_H
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