SofaPython3 import leads to segfault

python3/src/stlib3/communication/UDP_controller.py

@@ -53,7 +53,6 @@ def createScene(rootNode):
                 rootNode.findData('gravity').value=[0., 0., -9810]
                 rootNode.findData('dt').value=0.01
                 rootNode.addObject('RequiredPlugin', name='SoftRobots')
-                rootNode.addObject('RequiredPlugin', name='SofaPython3')
 
                 rootNode.addObject('FreeMotionMasterSolver')
                 rootNode.addObject('BlockGaussSeidelConstraintSolver',maxIterations=1000 ,tolerance=0.001)

python3/src/stlib3/scene/contactheader.py

@@ -1,7 +1,8 @@
 # -*- coding: utf-8 -*-
 
+
 def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
-    '''
+    """
     Args:
         applyTo (Sofa.Node): the node to attach the object to
 
@@ -24,25 +25,27 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
                 RuleBasedContactManager,
                 LocalMinDistance
             }
-    '''
+    """
 
     if applyTo.hasObject("CollisionPipeline") is False:
-            applyTo.addObject('CollisionPipeline')
+        applyTo.addObject("CollisionPipeline")
 
-    applyTo.addObject('BruteForceBroadPhase')
-    applyTo.addObject('BVHNarrowPhase')
+    applyTo.addObject("BruteForceBroadPhase")
+    applyTo.addObject("BVHNarrowPhase")
 
-    applyTo.addObject('RuleBasedContactManager', responseParams="mu="+str(frictionCoef),
-                                                    name='Response', response='FrictionContactConstraint')
-    applyTo.addObject('LocalMinDistance',
-                        alarmDistance=alarmDistance, contactDistance=contactDistance,
-                        angleCone=0.01)
+    applyTo.addObject(
+        "RuleBasedContactManager",
+        responseParams="mu=" + str(frictionCoef),
+        name="Response",
+        response="FrictionContactConstraint",
+    )
+    applyTo.addObject("LocalMinDistance", alarmDistance=alarmDistance, contactDistance=contactDistance, angleCone=0.01)
 
     if applyTo.hasObject("FreeMotionAnimationLoop") is False:
-            applyTo.addObject('FreeMotionAnimationLoop')
+        applyTo.addObject("FreeMotionAnimationLoop")
 
     if applyTo.hasObject("BlockGaussSeidelConstraintSolver") is False:
-            applyTo.addObject('BlockGaussSeidelConstraintSolver', tolerance=1e-6, maxIterations=1000)
+        applyTo.addObject("BlockGaussSeidelConstraintSolver", tolerance=1e-6, maxIterations=1000)
 
     return applyTo
 
@@ -51,5 +54,6 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
 def createScene(rootnode):
     import os
     from mainheader import MainHeader
-    MainHeader(rootnode, plugins=["SofaPython3"], repositoryPaths=[os.getcwd()])
+
+    MainHeader(rootnode, plugins=[], repositoryPaths=[os.getcwd()])
     ContactHeader(rootnode, alarmDistance=1, contactDistance=0.1, frictionCoef=1.0)

python3/src/stlib3/scene/mainheader.py

@@ -3,8 +3,9 @@
 from splib3.animation import AnimationManager
 import platform
 
+
 def MainHeader(node, gravity=[0.0, -9.8, 0.0], dt=0.01, plugins=[], repositoryPaths=[], doDebug=False):
-    '''
+    """
     Args:
         gravity (vec3f): define the gravity vector.
 
@@ -29,36 +30,36 @@ def MainHeader(node, gravity=[0.0, -9.8, 0.0], dt=0.01, plugins=[], repositoryPa
                 DiscreteIntersection
             }
 
-    '''
-    node.addObject('VisualStyle')
-    node.findData('gravity').value = gravity
-    node.findData('dt').value = dt
+    """
+    node.addObject("VisualStyle")
+    node.findData("gravity").value = gravity
+    node.findData("dt").value = dt
 
-    node.addObject('DefaultVisualManagerLoop')
+    node.addObject("DefaultVisualManagerLoop")
 
     if not isinstance(plugins, list):
-        Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got "+str(type(plugins)))
+        Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got " + str(type(plugins)))
         return node
 
-    if "SofaPython3" not in plugins:
-        plugins.append("SofaPython3")
-
     confignode = node.addChild("Config")
     for name in plugins:
-        confignode.addObject('RequiredPlugin', name=name, printLog=False)
+        confignode.addObject("RequiredPlugin", name=name, printLog=False)
 
-    i=0
+    i = 0
     for repository in repositoryPaths:
-        confignode.addObject('AddDataRepository', name="AddDataRepository"+str(i), path=repository)
-        i+=1
+        confignode.addObject("AddDataRepository", name="AddDataRepository" + str(i), path=repository)
+        i += 1
 
     if platform.system() != "Darwin":
-        confignode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")
+        confignode.addObject("OglSceneFrame", style="Arrows", alignment="TopRight")
     else:
-        Sofa.msg_warning("MainHeader", "MacOs detected, removing OglSceneFrame from the Settings because of compatibility problem.")
+        Sofa.msg_warning(
+            "MainHeader", "MacOs detected, removing OglSceneFrame from the Settings because of compatibility problem."
+        )
 
     if doDebug:
         from splib3.debug import DebugManager
+
         DebugManager(node)
 
     AnimationManager(node)
@@ -68,4 +69,5 @@ def MainHeader(node, gravity=[0.0, -9.8, 0.0], dt=0.01, plugins=[], repositoryPa
 ### This function is just an example on how to use the DefaultHeader function.
 def createScene(rootNode):
     import os
-    MainHeader(rootNode, plugins=["SofaPython3"], repositoryPaths=[os.getcwd()])
+
+    MainHeader(rootNode, plugins=[], repositoryPaths=[os.getcwd()])

python3/src/stlib3/scene/scene.py

@@ -5,106 +5,105 @@
 from splib3.animation import AnimationManager
 from stlib3.scene import ContactHeader
 
+
 class SofaRuntime(object):
-        class PluginManager(object):
-                loadedPlugins = ["SofaPython3"]
+    class PluginManager(object):
+        loadedPlugins = ["SofaPython3"]
+
 
 def Settings(plugins=[], repositoryPaths=[]):
-        self = Sofa.Core.Node("Settings")
+    self = Sofa.Core.Node("Settings")
+
+    if not isinstance(plugins, list):
+        Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got " + str(type(plugins)))
+        return node
+
+    plugin = self.addChild("Plugins")
+    for name in plugins:
+        plugin.addObject("RequiredPlugin", name=name, printLog=False)
+
+    i = 0
+    for repository in repositoryPaths:
+        self.addObject("AddResourceRepository", name="AddResourceRepository" + str(i), path=repository)
+        i += 1
+
+    if platform.system() != "Darwin":
+        self.addObject("OglSceneFrame", style="Arrows", alignment="TopRight")
+    else:
+        Sofa.msg_warning(
+            self, "MacOs detected, removing OglSceneFrame from the Settings because of compatibility problem."
+        )
+    self.addObject("AttachBodyButtonSetting", name="mouseButton")
 
+    return self
+
+
+def Scene(root, gravity=[0.0, -9.81, 0.0], dt=0.01, plugins=[], repositoryPaths=[], iterative=True):
+
+    def addMainHeader(plugins=plugins, repositoryPaths=repositoryPaths, doDebug=False):
         if not isinstance(plugins, list):
-                Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got "+str(type(plugins)))
-                return node
+            Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got " + str(type(plugins)))
+            return
+
+        if "Sofa.Component.IntegrationScheme.Backward" not in plugins:
+            plugins.append("Sofa.Component.IntegrationScheme.Backward")
+
+        if doDebug:
+            from splib3.debug import DebugManager
 
-        if "SofaPython3" not in plugins:
-                plugins.append("SofaPython3")
+            DebugManager(root)
 
-        plugin = self.addChild("Plugins")
-        for name in plugins:
-                plugin.addObject('RequiredPlugin', name=name, printLog=False)
+        root.addObject(AnimationManager(root))
 
-        i=0
-        for repository in repositoryPaths:
-                self.addObject('AddResourceRepository', name="AddResourceRepository"+str(i), path=repository)
-                i+=1
+        addSettings(plugins=plugins, repositoryPaths=repositoryPaths)
+        addModelling()
+        addSimulation()
 
-        if platform.system() != "Darwin":
-            self.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")
+    def addDefaultSolver(node):
+        node.addObject("EulerImplicitIntegrationScheme", name="TimeIntegrationSchema")
+        if iterative:
+            node.addObject("CGLinearSolver", name="LinearSolver", iterations=25, tolerance=1e-5, threshold=1e-5)
         else:
-            Sofa.msg_warning(self, "MacOs detected, removing OglSceneFrame from the Settings because of compatibility problem.")
-        self.addObject('AttachBodyButtonSetting', name="mouseButton")
-
-        return self
-
-def Scene(root, gravity=[0.0,-9.81,0.0],
-          dt=0.01, plugins=[], repositoryPaths=[], iterative=True):
-        from stlib3.scene import contactheader
-
-        def addMainHeader(plugins=plugins, repositoryPaths=repositoryPaths, doDebug=False):
-            if not isinstance(plugins, list):
-                Sofa.msg_error("MainHeader", "'plugins' expected to be a list, got "+str(type(plugins)))
-                return
-
-            if "SofaPython3" not in plugins:
-                plugins.append("SofaPython3")
-
-            if "Sofa.Component.IntegrationScheme.Backward":
-                plugins.append("Sofa.Component.IntegrationScheme.Backward")
-
-            if doDebug:
-                from splib3.debug import DebugManager
-                DebugManager(root)
-
-            root.addObject(AnimationManager(root))
-
-            addSettings(plugins=plugins, repositoryPaths=repositoryPaths)
-            addModelling()
-            addSimulation()
-
-        def addDefaultSolver(node):
-            node.addObject('EulerImplicitIntegrationScheme', name='TimeIntegrationSchema')
-            if iterative:
-                node.addObject('CGLinearSolver', name='LinearSolver', iterations=25, tolerance=1e-5, threshold=1e-5)
-            else:
-                node.addObject('SparseLDLSolver', name='LinearSolver', template='CompressedRowSparseMatrixd')
-            return node
-
-        def addContactHeader(alarmDistance=1.0 ,  contactDistance = 0.1, frictionCoef= 1.0):
-                ContactHeader(root, alarmDistance=alarmDistance , contactDistance=contactDistance , frictionCoef= frictionCoef)
-                return root
-
-        def addModelling():
-                root.addChild("Modelling")
-                return root
-
-        def addSimulation():
-                simulation = root.addChild("Simulation")
-                addDefaultSolver(simulation)
-                return root
-
-        def addSettings(plugins=plugins, repositoryPaths=repositoryPaths):
-                root.addChild(Settings(plugins=plugins, repositoryPaths=repositoryPaths))
-                return root
-
-        root.gravity.value = gravity
-        root.dt.value = dt
-        root.addObject('VisualStyle')
-        root.addMainHeader = addMainHeader
-        root.addSettings = addSettings
-        root.addSolver = addDefaultSolver
-        root.addContact = addContactHeader
-        root.addModelling = addModelling
-        root.addSimulation = addSimulation
-
+            node.addObject("SparseLDLSolver", name="LinearSolver", template="CompressedRowSparseMatrixd")
+        return node
+
+    def addContactHeader(alarmDistance=1.0, contactDistance=0.1, frictionCoef=1.0):
+        ContactHeader(root, alarmDistance=alarmDistance, contactDistance=contactDistance, frictionCoef=frictionCoef)
+        return root
+
+    def addModelling():
+        root.addChild("Modelling")
+        return root
+
+    def addSimulation():
+        simulation = root.addChild("Simulation")
+        addDefaultSolver(simulation)
         return root
 
+    def addSettings(plugins=plugins, repositoryPaths=repositoryPaths):
+        root.addChild(Settings(plugins=plugins, repositoryPaths=repositoryPaths))
+        return root
+
+    root.gravity.value = gravity
+    root.dt.value = dt
+    root.addObject("VisualStyle")
+    root.addMainHeader = addMainHeader
+    root.addSettings = addSettings
+    root.addSolver = addDefaultSolver
+    root.addContact = addContactHeader
+    root.addModelling = addModelling
+    root.addSimulation = addSimulation
+
+    return root
+
 
 def createScene(root):
-        import os
-        scene = Scene(root)
+    import os
+
+    scene = Scene(root)
 
-        scene.addSettings(repositoryPaths=[os.getcwd()])
-        scene.addModelling()
-        scene.addSimulation()
+    scene.addSettings(repositoryPaths=[os.getcwd()])
+    scene.addModelling()
+    scene.addSimulation()
 
-        scene.Simulation.addChild(scene.Modelling)
+    scene.Simulation.addChild(scene.Modelling)