def bowl(pos):
b = pouf.rigid.Body('bowl')
b.collision = Sofa.src_dir() + '/share/mesh/SaladBowl.obj'
b.mass_from_mesh( b.collision )
b.dofs.translation = pos
b.dofs.rotation = pouf.quat.exp( [-math.pi / 2, 0, 0] )
b.scale = [1, 1, 1]
return b
import Sofa
import SofaTest
flexible_path = Sofa.src_dir() + '/applications/plugins/Flexible'
mesh_path = flexible_path+ '/examples/beam/'
##Check if calling Mapping::init() change anything
#
#The trick is to know that if the option evaluateShapeFunction is activated
#in the ImageGaussPointSampler then a sampler::bwdInit() must be called
#to update weights using gauss points.
class Controller(SofaTest.Controller):
def initGraph(self,node):
self.success = 1
self.count = 0
return 0
def createGraph(self,node):
self.node = node
return 0
def initAndCheckMapping(self, node):
mapping = node
oldWeights = mapping.findData("weights").value
oldWeightGradients = mapping.findData("weightGradients").value
oldWeightHessians = mapping.findData("weightHessians").value
mapping.init()
newWeights = mapping.findData("weights").value
import Sofa
# TODO handle this more cleanly, i.e. standardize plugins python
# directory, then use something like Sofa.add_plugin_path('Compliant')
import sys
sys.path.append( Sofa.src_dir() + '/applications/plugins/Compliant/python' )
from Compliant import Rigid
def createScene(root):
root.createObject('RequiredPlugin', pluginName = 'Compliant')
root.createObject('VisualStyle', displayFlags="showBehavior" )
root.dt = 0.001
root.gravity = [0, -9.8, 0]
ode = root.createObject('AssembledSolver')
ode.stabilization = True
num = root.createObject('MinresSolver')
num.iterations = 500
scene = root.createChild('scene')
base = Rigid.Body('base')
moving = Rigid.Body('moving')
moving.dofs.translation = [0, 2, 0]
# importing this takes care of adding compliant python path to # sys.path. you might want to symlink this file next to your actual # scene files. this will become unnecessary in the future. import Sofa import sys path = Sofa.src_dir() + '/applications/plugins/Compliant/python' # TODO avoid doing this twice ? sys.path.append(path)
import Sofa
import sys
sys.path.append(Sofa.src_dir() + '/applications/plugins/Compliant/python')
from Compliant import Rigid
colladasceneloader_path = Sofa.src_dir(
) + '/applications/plugins/ColladaSceneLoader'
mesh_path = colladasceneloader_path + '/Demos/'
scale = 1
clothSelfCollision = 1
def createScene(root):
# simulation parameters
root.dt = 0.02
root.gravity = [0, -9.81, 0]
# plugins
root.createObject('RequiredPlugin', name='Flexible', pluginName='Flexible')
root.createObject('RequiredPlugin',
name='Compliant',
pluginName='Compliant')
root.createObject('RequiredPlugin',
name='ColladaSceneLoader',
pluginName='ColladaSceneLoader')
# visual style
import Sofa
import math
# TODO ease this nonsense, upstream in SofaPython
compliant_path = Sofa.src_dir() + '/applications/plugins/Compliant'
import sys
sys.path.append(compliant_path + '/python')
from Compliant import Rigid
# global structure for passing data to controller
class ControlData:
pass
global control
control = ControlData
def createScene(node):
node.createObject('RequiredPlugin', pluginName = 'Compliant')
node.animate = 'true'
node.createObject('VisualStyle', displayFlags='hideBehaviorModels hideCollisionModels hideMappings hideForceFields')
node.dt = 0.005
node.gravity = '0 -9.81 0'
ode = node.createObject('AssembledSolver',
name='odesolver' )
import Sofa
from Compliant import Rigid
colladasceneloader_path = Sofa.src_dir() + '/applications/plugins/ColladaSceneLoader'
mesh_path = colladasceneloader_path + '/Demos/'
scale = 1
clothSelfCollision = 1
def createScene(root):
# simulation parameters
root.dt = 0.02
root.gravity = [0, -9.81, 0]
# plugins
root.createObject('RequiredPlugin', name='Flexible', pluginName='Flexible')
root.createObject('RequiredPlugin', name='Compliant', pluginName='Compliant')
root.createObject('RequiredPlugin', name='ColladaSceneLoader', pluginName='ColladaSceneLoader')
# visual style
root.createObject('VisualStyle', displayFlags='showBehaviorModels')
# scene node
scene = root.createChild('scene')
scene.createObject('DefaultPipeline', depth='6')
import Sofa
import sys
sys.path.append( Sofa.src_dir() + '/applications/plugins/Compliant/python' )
from Compliant import Rigid
colladasceneloader_path = Sofa.src_dir() + '/applications/plugins/ColladaSceneLoader'
mesh_path = colladasceneloader_path + '/Demos/'
scale = 1
clothSelfCollision = 1
def createScene(root):
# simulation parameters
root.dt = 0.02
root.gravity = [0, -9.81, 0]
# plugins
root.createObject('RequiredPlugin', name='Flexible', pluginName='Flexible')
root.createObject('RequiredPlugin', name='Compliant', pluginName='Compliant')
root.createObject('RequiredPlugin', name='ColladaSceneLoader', pluginName='ColladaSceneLoader')
# visual style
root.createObject('VisualStyle', displayFlags='showBehaviorModels')
# scene node
scene = root.createChild('scene')
import os
import os.path
import sys
import Sofa
# add plugin path to sys.path
plugins_paths = ["applications/plugins", "applications-dev/plugins"]
for relative in plugins_paths:
absolute = os.path.join(Sofa.src_dir(), relative)
for plugin in os.listdir(absolute):
path = os.path.join(absolute, plugin)
if os.path.isdir(path):
python = os.path.join(path, "python")
if os.path.exists(python):
print "SofaPython: added plugin path for", plugin
sys.path.append(python)
# add more customization here if needed
import os
import os.path
import sys
import Sofa
# add plugin path to sys.path
plugins_paths = ['applications/plugins',
'applications-dev/plugins']
for relative in plugins_paths:
absolute = os.path.join(Sofa.src_dir(), relative)
if os.path.exists(absolute): # applications-dev is not necessarily existing
for plugin in os.listdir( absolute ):
path = os.path.join(absolute, plugin)
if os.path.isdir( path ):
python = os.path.join(path, 'python')
if os.path.exists( python ):
print "SofaPython: added plugin path for", plugin
sys.path.append( python )
# add more customization here if needed
