def set_compliant_interactor(compliance=1e-3):
import ctypes
plugin_name = 'compliant_qtquickgui'
try:
dll_path = Sofa.loadPlugin(plugin_name)
dll = ctypes.CDLL(dll_path)
dll.set_compliant_interactor.argtypes = [ctypes.c_double]
dll.set_compliant_interactor.restype = None
print('setting compliant interactor, compliance:', compliance)
dll.set_compliant_interactor(compliance)
except EnvironmentError as e:
print('setting compliant interactor failed:', e)
import os
import Sofa
Sofa.loadPlugin("Compliant")
from _Compliant import *
def path():
current_dir = os.path.dirname(__file__)
return os.path.abspath(os.path.join(current_dir, '..', '..'))
from __future__ import print_function, absolute_import
import Sofa
from ctypes import *
from ctypes.util import find_library
import numpy as np
import scipy as sp
from scipy import sparse
from SofaPython import SofaNumpy as sofa_numpy
from collections import namedtuple
from contextlib import contextmanager
dll_path = Sofa.loadPlugin('Compliant')
dll = CDLL(dll_path)
def set_opaque(obj, name, value):
'''set an opaque data to ctypes value'''
value_type = type(value)
data = obj.findData(name)
ptr, shape, typename = data.getValueVoidPtr()
class Opaque(Structure):
_fields_ = (('data', value_type), )
dst = Opaque.from_address(ptr)
dst.data = value
from __future__ import print_function
from SofaPython import sparse
import numpy as np
import Sofa
Sofa.loadPlugin('Flexible')
def createScene(node):
template = 'Affine'
dofs = node.createObject('MechanicalObject',
template=template,
name="dof",
showObject="true",
showObjectScale="0.7",
size=1)
dofs.init()
mass = node.createObject('AffineMass', template=template)
mass.init()
mass.bwdInit()
ref = np.identity(12)
with sparse.data_view(mass, 'massMatrix') as m:
assert (m == ref).all()
m[10, 10] = 14
ref[10, 10] = 14
import Sofa
from Compliant import StructuralAPI as api
from SofaPython import script
class Script(script.Controller):
def onEndAnimationStep(self, dt):
print(self.dofs.force)
Sofa.loadPlugin('Compliant')
def createScene(node):
ode = node.createObject('CompliantImplicitSolver')
ode.debug = True
num = node.createObject('SequentialSolver', iterations=5, precision=0)
num.debug = True
# a point mass
point = node.createChild('point')
dofs = point.createObject('MechanicalObject',
template='Vec3',
showObject=True,
drawMode=1)
point.createObject('UniformMass', template='Vec3', totalMass=1)
import Sofa
import numpy as np
import scipy as sp
from scipy import sparse
from contextlib import contextmanager
from ctypes import *
dll_path = Sofa.loadPlugin('Compliant')
dll = CDLL(dll_path)
# note: we don't alias eigen matrices directly as the memory layout could change
# between versions (it did once in the past IIRC), so we use a low-level
# exchange data structure instead
class Matrix(Structure):
'''all the data needed to alias a sparse matrix in eigen/scipy'''
_fields_ = (('rows', c_size_t), ('cols', c_size_t), ('outer_index',
POINTER(c_int)),
('inner_nonzero', POINTER(c_int)), ('values',
POINTER(c_double)),
('indices', POINTER(c_int)), ('size', c_size_t))
@staticmethod
def from_scipy(s):
data = Matrix()
values, inner_indices, outer_index = s.data, s.indices, s.indptr
import Sofa
import numpy as np
import scipy as sp
from scipy import sparse
from contextlib import contextmanager
from ctypes import *
dll_path = Sofa.loadPlugin('SofaPython')
dll = CDLL(dll_path)
def matrix(dtype):
'''matrix type constructor from scalar type (c_double or c_float)'''
from_eigen_table = {
c_double: dll.eigen_to_scipy_double,
c_float: dll.eigen_to_scipy_float,
}
to_eigen_table = {
c_double: dll.eigen_from_scipy_double,
c_float: dll.eigen_from_scipy_float,
}
# note: we don't alias eigen matrices directly as the memory layout could change
# between versions (it did once in the past IIRC), so we use a low-level
# exchange data structure instead
class Matrix(Structure):
'''all the data needed to alias a sparse matrix in eigen/scipy (see ctypes.cpp)'''
from __future__ import print_function
from SofaPython import sparse
import numpy as np
import Sofa
Sofa.loadPlugin('Flexible')
def createScene(node):
template = 'Affine'
dofs = node.createObject('MechanicalObject', template = template, name="dof",
showObject="true", showObjectScale="0.7", size = 1)
dofs.init()
mass = node.createObject('AffineMass', template = template)
mass.init()
mass.bwdInit()
ref = np.identity(12)
with sparse.data_view(mass, 'massMatrix') as m:
assert (m == ref).all()
m[10, 10] = 14
ref[10, 10] = 14
# assert our in-place modifications are reflected
with sparse.data_view(mass, 'massMatrix') as mm:
assert (mm == ref).all()
import Sofa
import numpy as np
import scipy as sp
from scipy import sparse
from contextlib import contextmanager
from ctypes import *
dll_path = Sofa.loadPlugin('SofaPython')
dll = CDLL(dll_path)
def matrix(dtype):
'''matrix type constructor from scalar type (c_double or c_float)'''
from_eigen_table = {
c_double: dll.eigen_to_scipy_double,
c_float: dll.eigen_to_scipy_float,
}
to_eigen_table = {
c_double: dll.eigen_from_scipy_double,
c_float: dll.eigen_from_scipy_float,
}
# note: we don't alias eigen matrices directly as the memory layout could change
# between versions (it did once in the past IIRC), so we use a low-level
import os
import Sofa
Sofa.loadPlugin("SofaImplicitField")
from __SofaImplicitField import *
import __SofaImplicitField
