def __str__(self):
str = ""
str = str + "Constraint: " + self.name + "\n"
str = str + "--- bone -> " + self.bone.name + "\n"
str = str + "--- frame -> " + listToStr(self.frame) + "\n"
str = str + "--- mask -> " + listToStr(self.mask) + "\n"
str = str + "--- limits -> " + listToStr(self.limits)
return str
def __str__(self):
str = ""
str = str + "Constraint: " + self.name + "\n"
str = str + "--- bone -> " + self.bone.name + "\n"
str = str + "--- frame -> " + listToStr(self.frame) + "\n"
str = str + "--- mask -> " + listToStr(self.mask) + "\n"
str = str + "--- limits -> " + listToStr(self.limits)
return str
def __str__(self):
str = ""
str = str + "Bone: " + self.name + "\n"
str = str + "--- type -> " + self.type + "\n"
str = str + "--- filepath -> " + self.filepath + "\n"
str = str + "--- frame -> " + listToStr(self.frame) + "\n"
str = str + "--- inertia -> " + listToStr(self.inertia) + "\n"
str = str + "--- transform -> " + listToStr(self.transform) + "\n"
str = str + "--- voxelSize -> " + repr(self.voxelSize)
return str
def __str__(self):
str = ""
str = str + "Bone: " + self.name + "\n"
str = str + "--- type -> " + self.type + "\n"
str = str + "--- filepath -> " + self.filepath + "\n"
str = str + "--- frame -> " + listToStr(self.frame) + "\n"
str = str + "--- inertia -> " + listToStr(self.inertia) + "\n"
str = str + "--- transform -> " + listToStr(self.transform) + "\n"
str = str + "--- voxelSize -> " + repr(self.voxelSize)
return str
def createGraph(self, root):
# Variable
self.E_t = 0
self.E_t_dt = 0
self.root_node = root
self.root_node.findData('gravity').value = '0 0 0'
# Sofa parameters
self.root_node.createObject('BackgroundSetting',color='1 1 1')
self.root_node.createObject('VisualStyle', displayFlags='showVisual hideWireframe showBehaviorModels hideForceFields showInteractionForceFields')
self.root_node.createObject('EulerImplicit',rayleighStiffness='0.01',rayleighMass='0.01')
self.root_node.createObject('CGLinearSolver', iterations=200, tolerance=1E-6, threshold=1E-6)
# Object to transfer creation
node = self.root_node.createChild('main')
node.createObject('MeshObjLoader',name='source', filename='./mesh/source.obj', triangulate=1, translation='0 0 0', rotation='0 0 0', scale3d='1 1 1')
node.createObject('MeshToImageEngine', template='ImageUC', name='rasterizer', src='@source', insideValue='1', voxelSize=0.01, padSize=2, rotateImage='false')
node.createObject('ImageContainer', template='ImageUC', name='image', src='@rasterizer', drawBB='false')
node.createObject('MeshTopology', name='frame_topo', position=listListToStr(dofs_position))
#================================ Target model ===================================
targetNode = node.createChild('target')
targetNode.createObject('MeshObjLoader', name='loader', filename='./mesh/target.obj', rotation='0 0 0', translation='0 0 0', scale3d='1 1 1', showObject=0)
targetNode.createObject('MechanicalObject', template='Vec3d', name='DOFs', src='@loader', showObject=0)
targetNode.createObject('NormalsFromPoints', name='normalsFromPoints', template='Vec3d', position='@DOFs.position', triangles='@loader.triangles', invertNormals=0)
targetNode.createObject('FixedConstraint', fixAll='1', drawSize=0.001)
targetVisuNode = targetNode.createChild('visu')
targetVisuNode.createObject('OglModel', template='ExtVec3f', name='visual', src='@../loader', color='0.5 0.5 0.5 0.85')
#================================ Rigid frame ====================================
rigidNode = node.createChild('rigid')
rigidNode.createObject('MechanicalObject', template='Rigid', name='DOFs', src='@../frame_topo', showObject=1, showObjectScale='0.1')
rigidNode.createObject('RigidMass', mass="1 1 ", inertia="1 1 1 1 1 1")
#rigidNode.createObject('FixedConstraint', name='fixed', indices='0')
#=================================== Scale =======================================
scaleNode = node.createChild('scale')
scaleNode.createObject('MechanicalObject', template='Vec3d', name='DOFs', position='1 1 1 1 1 1', showObject=0, showObjectScale='0.1')
#=========================== Alignement constraint ===============================
offsetNode = rigidNode.createChild('offset')
offsetNode.createObject('MechanicalObject', template='Rigid', name='DOFs', position='0 0 0 0 0 0 1 0 0 0 0 0 0 1', showObject=1, showObjectScale='0.1')
offsetNode.createObject('AssembledRigidRigidMapping', template='Rigid,Rigid', source='0 '+listToStr(offset_position[0]) + listToStr(joint_orientation) + ' 1 '+listToStr(offset_position[1]) + listToStr(joint_orientation))
# --- old things even if they don't work well are often more stable, just for creating the prototype ...
offsetNode.createObject('JointSpringForceField', template='Rigid', name='joint', object1='@.', object2='@.', spring=' BEGIN_SPRING 0 1 FREE_AXIS 0 1 0 0 0 0 KS_T 0 1E10 KS_R 0 1e10 KS_B 3E3 KD 0.1 R_LIM_X 0 0 R_LIM_Y 0 0 R_LIM_Z 0 0 REST_T 0 1 0 END_SPRING')
#============================= Registration model ================================
objMainNode = rigidNode.createChild('deformable')
scaleNode.addChild(objMainNode)
# scene creation
loader = objMainNode.createObject('MeshObjLoader',name='source', filename='./mesh/source.obj', triangulate=1, translation='0 0 0', rotation='0 0 0', scale3d='1 1 1')
objMainNode.createObject('MeshToImageEngine', template='ImageUC', name='rasterizer', src='@source', value=1, insideValue=1, voxelSize=0.01, padSize=0, rotateImage='false')
objMainNode.createObject('ImageContainer', template='ImageUC', name='image', src='@rasterizer', drawBB='false')
objMainNode.createObject('MechanicalObject', template='Affine', name='parent', showObject=1, src='@../../frame_topo', showObjectScale='0.1')
objMainNode.createObject('RigidScaleToAffineMultiMapping', template='Rigid,Vec3d,Affine', input1='@../../rigid/DOFs', input2='@../../scale/DOFs', output='@.', autoInit='1', printLog='0')
objMainNode.createObject('VoronoiShapeFunction', template='ShapeFunctiond,ImageUC', name='SF', position='@parent.rest_position', image='@image.image', transform='@image.transform', nbRef=4, clearData=1, bias=0)
# Behavior Node
objBehaviorNode = objMainNode.createChild('behavior')
objBehaviorNode.createObject('ImageGaussPointSampler', name='sampler', indices='@../SF.indices', weights='@../SF.weights', transform='@../SF.transform', method=2, order=1, targetNumber=40)
objBehaviorNode.createObject('MechanicalObject', template='F331')
objBehaviorNode.createObject('LinearMapping', template='Affine,F331')
objBehaviorNode.createObject('ProjectiveForceField', template='F331', youngModulus=1E6, poissonRatio=0, viscosity=0, isCompliance=0)
# Contact
objContactNode = objMainNode.createChild('registration')
objContactNode.createObject('MeshTopology', name='topo', src='@../source')
objContactNode.createObject('MechanicalObject', name='DOFs')
objContactNode.createObject('UniformMass', totalMass=1)
objContactNode.createObject('TriangleModel')
objContactNode.createObject('LinearMapping', template='Affine,Vec3d')
# Visual model
objVisuNode = objContactNode.createChild('visual')
objVisuNode.createObject('OglModel', template='ExtVec3f', name='visual', src='@../topo', color='1 0.2 0.2 0.8')
objVisuNode.createObject('IdentityMapping', template='Vec3d,ExtVec3f')
# Registration : first attraction field to well positioning the source on the target
objRegistrationNode = objMainNode.createChild('force')
objRegistrationNode.createObject('MeshTopology', name='topo', src='@../source')
objRegistrationNode.createObject('MechanicalObject', template='Vec3d', name='DOFs')
objRegistrationNode.createObject('LinearMapping', template='Affine,Vec3d')
# registration force field
springs = ""
for i in range(len(loader.position)):
springs += str(i)+' '+str(i)+' '
distanceNode = objRegistrationNode.createChild('registration_constraint')
targetNode.addChild(distanceNode)
distanceNode.createObject('MechanicalObject', template='Vec3d', name='distanceDOFs')
distanceNode.createObject('DifferenceMultiMapping', template='Vec3d,Vec3d', input='@'+Tools.node_path_rel(distanceNode, targetNode)+' @'+Tools.node_path_rel(distanceNode, objRegistrationNode), output='@.', pairs=springs, showObjectScale="0.005")
distanceNode.createObject('UniformCompliance', name='constraint', isCompliance=0, compliance=1E-6, damping=0.1)
# Registration : surface to surface registration forces
surfaceRegistrationNode = objMainNode.createChild('reg_force')
surfaceRegistrationNode.createObject('MeshTopology', name='topo', src='@../source')
surfaceRegistrationNode.createObject('MechanicalObject', name='DOFs')
surfaceRegistrationNode.createObject('Triangle')
surfaceRegistrationNode.createObject('LinearMapping', template='Affine,Vec3d', assemble=0)
surfaceRegistrationNode.createObject('NormalsFromPoints', name='normalsFromPoints', template='Vec3d', position='@DOFs.position', triangles='@topo.triangles', invertNormals=0)
surfaceRegistrationNode.createObject('ClosestPointRegistrationForceField', name='ICP', template='Vec3d'
, sourceTriangles='@topo.triangles', sourceNormals='@normalsFromPoints.normals'
, position='@../../../target/loader.position' , triangles='@../../../target/loader.triangles', normals='@../../../target/normalsFromPoints.normals'
, cacheSize=4, blendingFactor=1, stiffness=1E3, damping=1E-3
, outlierThreshold=0, normalThreshold=0, rejectOutsideBbox=0, drawColorMap='0')
def setup(self, useCompliant=1, compliance=1E-6, showOffset=False, showOffsetScale=0.1):
if len(self.bone.body.frame) != 2:
print "Only alignement constraint of the bone heads is currently handled."
return
# computation of orientation
self.computeFrameOrientation()
# variable
_compliance = 0 if useCompliant else compliance
# offset computation
bone_offset_0 = (self.bone.body.frame[0].inv()*Frame.Frame(self.frame)).offset()
bone_offset_1 = (self.bone.body.frame[1].inv()*Frame.Frame(self.frame)).offset()
# joint creation between the offsets
offsetNode = self.bone.body.rigidNode.createChild(self.name+'_constraint')
offsetNode.createObject('MechanicalObject', template='Rigid', name='DOFs', position='0 0 0 0 0 0 1 0 0 0 0 0 0 1', showObject=showOffset, showObjectScale=showOffsetScale)
offsetNode.createObject('AssembledRigidRigidMapping', template='Rigid,Rigid', source='0 '+ listToStr(bone_offset_0) + ' 1 ' + listToStr(bone_offset_1))
# --- joint
jointNode = offsetNode.createChild('joint')
jointNode.createObject('MechanicalObject', template='Vec6'+StructuralAPI.template_suffix, name='dofs')
jointNode.createObject('RigidJointMapping', template='Rigid,Vec6'+StructuralAPI.template_suffix, name='mapping', pairs='0 1', geometricStiffness='0', translation=1, rotation=1)
# --- constraint
constraintNode = jointNode.createChild('constraint')
constraintNode.createObject('MechanicalObject', template='Vec1'+StructuralAPI.template_suffix, name='dofs')
constraintNode.createObject('MaskMapping', template='Vec6'+StructuralAPI.template_suffix+',Vec1'+StructuralAPI.template_suffix, dofs=listToStr(self.mask))
constraintNode.createObject('UniformCompliance', template='Vec1'+StructuralAPI.template_suffix, name='compliance', isCompliance='0', compliance=_compliance)
constraintNode.createObject('Stabilization', name='Stabilization')
def setup(self,
useCompliant=1,
compliance=1E-6,
showOffset=False,
showOffsetScale=0.1):
if len(self.bone.body.frame) != 2:
print "Only alignement constraint of the bone heads is currently handled."
return
# computation of orientation
self.computeFrameOrientation()
# variable
_compliance = 0 if useCompliant else compliance
# offset computation
bone_offset_0 = (self.bone.body.frame[0].inv() *
Frame.Frame(self.frame)).offset()
bone_offset_1 = (self.bone.body.frame[1].inv() *
Frame.Frame(self.frame)).offset()
# joint creation between the offsets
offsetNode = self.bone.body.rigidNode.createChild(self.name +
'_constraint')
offsetNode.createObject('MechanicalObject',
template='Rigid',
name='DOFs',
position='0 0 0 0 0 0 1 0 0 0 0 0 0 1',
showObject=showOffset,
showObjectScale=showOffsetScale)
offsetNode.createObject('AssembledRigidRigidMapping',
template='Rigid,Rigid',
source='0 ' + listToStr(bone_offset_0) +
' 1 ' + listToStr(bone_offset_1))
# --- joint
jointNode = offsetNode.createChild('joint')
jointNode.createObject('MechanicalObject',
template='Vec6' + StructuralAPI.template_suffix,
name='dofs')
jointNode.createObject('RigidJointMapping',
template='Rigid,Vec6' +
StructuralAPI.template_suffix,
name='mapping',
pairs='0 1',
geometricStiffness='0',
translation=1,
rotation=1)
# --- constraint
constraintNode = jointNode.createChild('constraint')
constraintNode.createObject('MechanicalObject',
template='Vec1' +
StructuralAPI.template_suffix,
name='dofs')
constraintNode.createObject('MaskMapping',
template='Vec6' +
StructuralAPI.template_suffix + ',Vec1' +
StructuralAPI.template_suffix,
dofs=listToStr(self.mask))
constraintNode.createObject('UniformCompliance',
template='Vec1' +
StructuralAPI.template_suffix,
name='compliance',
isCompliance='0',
compliance=_compliance)
constraintNode.createObject('Stabilization', name='Stabilization')
def createGraph(self, root):
# Variable
self.E_t = 0
self.E_t_dt = 0
self.root_node = root
self.root_node.findData('gravity').value = '0 0 0'
# Sofa parameters
self.root_node.createObject('BackgroundSetting', color='1 1 1')
self.root_node.createObject(
'VisualStyle',
displayFlags=
'showVisual hideWireframe showBehaviorModels hideForceFields showInteractionForceFields'
)
self.root_node.createObject('EulerImplicit',
rayleighStiffness='0.01',
rayleighMass='0.01')
self.root_node.createObject('CGLinearSolver',
iterations=200,
tolerance=1E-6,
threshold=1E-6)
# Object to transfer creation
node = self.root_node.createChild('main')
node.createObject('MeshObjLoader',
name='source',
filename='./mesh/source.obj',
triangulate=1,
translation='0 0 0',
rotation='0 0 0',
scale3d='1 1 1')
node.createObject('MeshToImageEngine',
template='ImageUC',
name='rasterizer',
src='@source',
insideValue='1',
voxelSize=0.01,
padSize=2,
rotateImage='false')
node.createObject('ImageContainer',
template='ImageUC',
name='image',
src='@rasterizer',
drawBB='false')
node.createObject('MeshTopology',
name='frame_topo',
position=listListToStr(dofs_position))
#================================ Target model ===================================
targetNode = node.createChild('target')
targetNode.createObject('MeshObjLoader',
name='loader',
filename='./mesh/target.obj',
rotation='0 0 0',
translation='0 0 0',
scale3d='1 1 1',
showObject=0)
targetNode.createObject('MechanicalObject',
template='Vec3d',
name='DOFs',
src='@loader',
showObject=0)
targetNode.createObject('NormalsFromPoints',
name='normalsFromPoints',
template='Vec3d',
position='@DOFs.position',
triangles='@loader.triangles',
invertNormals=0)
targetNode.createObject('FixedConstraint', fixAll='1', drawSize=0.001)
targetVisuNode = targetNode.createChild('visu')
targetVisuNode.createObject('OglModel',
template='ExtVec3f',
name='visual',
src='@../loader',
color='0.5 0.5 0.5 0.85')
#================================ Rigid frame ====================================
rigidNode = node.createChild('rigid')
rigidNode.createObject('MechanicalObject',
template='Rigid',
name='DOFs',
src='@../frame_topo',
showObject=1,
showObjectScale='0.1')
rigidNode.createObject('RigidMass',
mass="1 1 ",
inertia="1 1 1 1 1 1")
#rigidNode.createObject('FixedConstraint', name='fixed', indices='0')
#=================================== Scale =======================================
scaleNode = node.createChild('scale')
scaleNode.createObject('MechanicalObject',
template='Vec3d',
name='DOFs',
position='1 1 1 1 1 1',
showObject=0,
showObjectScale='0.1')
#=========================== Alignement constraint ===============================
offsetNode = rigidNode.createChild('offset')
offsetNode.createObject('MechanicalObject',
template='Rigid',
name='DOFs',
position='0 0 0 0 0 0 1 0 0 0 0 0 0 1',
showObject=1,
showObjectScale='0.1')
offsetNode.createObject('AssembledRigidRigidMapping',
template='Rigid,Rigid',
source='0 ' + listToStr(offset_position[0]) +
listToStr(joint_orientation) + ' 1 ' +
listToStr(offset_position[1]) +
listToStr(joint_orientation))
# --- old things even if they don't work well are often more stable, just for creating the prototype ...
offsetNode.createObject(
'JointSpringForceField',
template='Rigid',
name='joint',
object1='@.',
object2='@.',
spring=
' BEGIN_SPRING 0 1 FREE_AXIS 0 1 0 0 0 0 KS_T 0 1E10 KS_R 0 1e10 KS_B 3E3 KD 0.1 R_LIM_X 0 0 R_LIM_Y 0 0 R_LIM_Z 0 0 REST_T 0 1 0 END_SPRING'
)
#============================= Registration model ================================
objMainNode = rigidNode.createChild('deformable')
scaleNode.addChild(objMainNode)
# scene creation
loader = objMainNode.createObject('MeshObjLoader',
name='source',
filename='./mesh/source.obj',
triangulate=1,
translation='0 0 0',
rotation='0 0 0',
scale3d='1 1 1')
objMainNode.createObject('MeshToImageEngine',
template='ImageUC',
name='rasterizer',
src='@source',
value=1,
insideValue=1,
voxelSize=0.01,
padSize=0,
rotateImage='false')
objMainNode.createObject('ImageContainer',
template='ImageUC',
name='image',
src='@rasterizer',
drawBB='false')
objMainNode.createObject('MechanicalObject',
template='Affine',
name='parent',
showObject=1,
src='@../../frame_topo',
showObjectScale='0.1')
objMainNode.createObject('RigidScaleToAffineMultiMapping',
template='Rigid,Vec3d,Affine',
input1='@../../rigid/DOFs',
input2='@../../scale/DOFs',
output='@.',
autoInit='1',
printLog='0')
objMainNode.createObject('VoronoiShapeFunction',
template='ShapeFunctiond,ImageUC',
name='SF',
position='@parent.rest_position',
image='@image.image',
transform='@image.transform',
nbRef=4,
clearData=1,
bias=0)
# Behavior Node
objBehaviorNode = objMainNode.createChild('behavior')
objBehaviorNode.createObject('ImageGaussPointSampler',
name='sampler',
indices='@../SF.indices',
weights='@../SF.weights',
transform='@../SF.transform',
method=2,
order=1,
targetNumber=40)
objBehaviorNode.createObject('MechanicalObject', template='F331')
objBehaviorNode.createObject('LinearMapping', template='Affine,F331')
objBehaviorNode.createObject('ProjectiveForceField',
template='F331',
youngModulus=1E6,
poissonRatio=0,
viscosity=0,
isCompliance=0)
# Contact
objContactNode = objMainNode.createChild('registration')
objContactNode.createObject('MeshTopology',
name='topo',
src='@../source')
objContactNode.createObject('MechanicalObject', name='DOFs')
objContactNode.createObject('UniformMass', totalMass=1)
objContactNode.createObject('TriangleModel')
objContactNode.createObject('LinearMapping', template='Affine,Vec3d')
# Visual model
objVisuNode = objContactNode.createChild('visual')
objVisuNode.createObject('OglModel',
template='ExtVec3f',
name='visual',
src='@../topo',
color='1 0.2 0.2 0.8')
objVisuNode.createObject('IdentityMapping', template='Vec3d,ExtVec3f')
# Registration : first attraction field to well positioning the source on the target
objRegistrationNode = objMainNode.createChild('force')
objRegistrationNode.createObject('MeshTopology',
name='topo',
src='@../source')
objRegistrationNode.createObject('MechanicalObject',
template='Vec3d',
name='DOFs')
objRegistrationNode.createObject('LinearMapping',
template='Affine,Vec3d')
# registration force field
springs = ""
for i in range(len(loader.position)):
springs += str(i) + ' ' + str(i) + ' '
distanceNode = objRegistrationNode.createChild(
'registration_constraint')
targetNode.addChild(distanceNode)
distanceNode.createObject('MechanicalObject',
template='Vec3d',
name='distanceDOFs')
distanceNode.createObject(
'DifferenceMultiMapping',
template='Vec3d,Vec3d',
input='@' + Tools.node_path_rel(distanceNode, targetNode) + ' @' +
Tools.node_path_rel(distanceNode, objRegistrationNode),
output='@.',
pairs=springs,
showObjectScale="0.005")
distanceNode.createObject('UniformCompliance',
name='constraint',
isCompliance=0,
compliance=1E-6,
damping=0.1)
# Registration : surface to surface registration forces
surfaceRegistrationNode = objMainNode.createChild('reg_force')
surfaceRegistrationNode.createObject('MeshTopology',
name='topo',
src='@../source')
surfaceRegistrationNode.createObject('MechanicalObject', name='DOFs')
surfaceRegistrationNode.createObject('Triangle')
surfaceRegistrationNode.createObject('LinearMapping',
template='Affine,Vec3d',
assemble=0)
surfaceRegistrationNode.createObject('NormalsFromPoints',
name='normalsFromPoints',
template='Vec3d',
position='@DOFs.position',
triangles='@topo.triangles',
invertNormals=0)
surfaceRegistrationNode.createObject(
'ClosestPointRegistrationForceField',
name='ICP',
template='Vec3d',
sourceTriangles='@topo.triangles',
sourceNormals='@normalsFromPoints.normals',
position='@../../../target/loader.position',
triangles='@../../../target/loader.triangles',
normals='@../../../target/normalsFromPoints.normals',
cacheSize=4,
blendingFactor=1,
stiffness=1E3,
damping=1E-3,
outlierThreshold=0,
normalThreshold=0,
rejectOutsideBbox=0,
drawColorMap='0')
