Add scene checking before initRoot when scenechekcing is available

Author: bakpaul

bindings/Sofa/src/SofaPython3/Sofa/Simulation/Submodule_Simulation.cpp

@@ -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;
 
@@ -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);