Add addObject as reusable method and use it in Collision to enable kwargs

Author: bakpaul

splib/core/utils.py

@@ -1,5 +1,7 @@
 from typing import List, Callable, Tuple, Dict
 from functools import wraps
+from node_wrapper import ReusableMethod
+
 
 class defaultValueType():
     def __init__(self):
@@ -32,5 +34,9 @@ def wrapper(*args, **kwargs):
     return MapArg
 
 
+@ReusableMethod
+def addObject(node,typeName : str, name : str , **kwargs):
+    node.addObject(typeName, name = name, **kwargs)
+
 
 

stlib/prefabs/collision.py

@@ -3,7 +3,7 @@
 from stlib.geometry import Geometry, GeometryParameters
 from stlib.geometry.file import FileParameters
 from splib.core.enum_types import CollisionPrimitive
-from splib.core.utils import DEFAULT_VALUE
+from splib.core.utils import DEFAULT_VALUE, addObject
 from splib.mechanics.collision_model import addCollisionModels
 from Sofa.Core import Object 
 
@@ -28,7 +28,7 @@ def __init__(self, params: CollisionParameters):
 
         geom = self.add(Geometry, params.geometry)
 
-        self.addObject("MechanicalObject",template="Vec3", position=f"@{params.geometry.name}/container.position")
+        addObject(self,"MechanicalObject",name="MechanicalObject",template="Vec3", position=f"@{params.geometry.name}/container.position", **params.kwargs)
         for primitive in params.primitives:
             addCollisionModels(self,primitive,
                                topology=f"@{params.geometry.name}/container",