def insertRigidScale(parentNode, solidModel, param):
""" create a RigidScale.API.ShearlessAffineBody from the solidModel
"""
if printLog:
Sofa.msg_info("RigidScale.sml", "insertRigidScale "+solidModel.name)
body = RigidScale.API.ShearlessAffineBody(parentNode, solidModel.name)
if (not len(solidModel.mesh)==1):
Sofa.msg_warning("RigidScale.sml", "insertRigidScale support only single mesh solid (nb meshes={0}) - solid {1} ignored".format(len(solidModel.mesh), solidModel.name))
return None
# TODO support multi meshes
body.setFromMesh(solidModel.mesh[0].source,
numberOfPoints = SofaPython.sml.getValueByTag(param.rigidScaleNbDofByTag, solidModel.tags),
voxelSize = SofaPython.units.length_from_SI(param.voxelSize),
density = SofaPython.units.massDensity_from_SI(1000.),
offset = solidModel.position)
body.addBehavior(youngModulus=SofaPython.units.elasticity_from_SI(param.rigidScaleStiffness), numberOfGaussPoint=8)
cm = body.addCollisionMesh(solidModel.mesh[0].source)
cm.addVisualModel()
body.affineDofs.showObject=param.showAffine
body.affineDofs.showObjectScale=SofaPython.units.length_from_SI(param.showAffineScale)
if param.showImage:
body.image.addViewer()
return body
def createScene(self):
model=self.model # shortcut
for solid in model.solids.values():
if printLog:
Sofa.msg_info("SofaPython.sml","SceneDisplay: Display solid:" + solid.name)
color = getValueByTag(self.param.colorByTag, solid.tags)
insertVisual(self.node, solid, color)
def processProperties(self, key, kv, stack, frame):
if not isinstance(kv, list):
raise Exception("This shouldn't happen, exepecting only list")
msg = ""
for k, v in kv:
## Check if the property named by "k" already exists.
if hasattr(self, k):
msg += " - cannot add a property named '" + k + "' as it already exists"
continue
if isAStringToken(v):
v = processString(v, stack, frame)
if isinstance(v, int):
self.addNewData(k, "Properties", "", "d", v)
elif isinstance(v, str) or isinstance(v, unicode):
self.addNewData(k, "Properties", "", "s", str(v))
elif isinstance(v, float):
self.addNewData(k, "Properties", "", "f", v)
if hasattr(self, k):
msg += " - adding: '" + str(k) + "' = " + str(v)
else:
msg += " - unable to create a property from the value '" + str(
v) + "'"
Sofa.msg_info(self, pslprefix + "Adding a user properties: \n" + msg)
def setupUnits(myUnits):
message = "units:"
for quantity, unit in myUnits.iteritems():
exec("units.local_{0} = units.{0}_{1}".format(quantity, unit))
message += " " + quantity + ":" + unit
if printLog:
Sofa.msg_info("SofaPython.sml", message)
def read(self, filenamePrefix=None, directory="", **kwargs):
filename = self.getFilename(filenamePrefix, directory)
data = dict()
with open(filename, 'r') as f:
data.update(json.load(f))
self.type = data['type']
self.sampler = self.node.createObject(
'GaussPointContainer',
name='GPContainer',
volumeDim=data['volumeDim'],
inputVolume=data['inputVolume'],
position=data['position'],
**kwargs)
if not self.labelImage is None and not self.labels is None:
if self.labelImage.prefix == "Branching":
celloffsets = self.node.createObject(
"BranchingCellOffsetsFromPositions",
template=self.labelImage.template(),
name="cell",
position=self.sampler.getLinkPath() + ".position",
src=self.labelImage.getImagePath(),
labels=concat(self.labels))
self.cell = celloffsets.getLinkPath() + ".cell"
if printLog:
Sofa.msg_info("Flexible.API.Behavior",
'Imported Gauss Points from ' + filename)
def read(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix, directory)
if os.path.isfile(filename):
data = dict()
with open(filename, 'r') as f:
data.update(json.load(f))
# dofs
self.dof = self.node.createObject(
"MechanicalObject",
name="dofs",
template=data['template'],
position=(data['position']),
rest_position=(data['rest_position']))
# mesh
if 'hexahedra' in data and 'tetrahedra' in data:
self.mesh = self.node.createObject(
"Mesh",
name="mesh",
position=(data['rest_position']),
hexahedra=data['hexahedra'],
tetrahedra=data['tetrahedra'])
# uniform mass
if 'totalMass' in data:
self.addUniformMass(data['totalMass'])
if printLog:
Sofa.msg_info("Flexible.API.FEMDof",
'Imported FEM Dof from ' + filename)
def setupUnits(myUnits):
message = "units:"
for quantity,unit in myUnits.iteritems():
exec("units.local_{0} = units.{0}_{1}".format(quantity,unit))
message+=" "+quantity+":"+unit
if printLog:
Sofa.msg_info("SofaPython.sml",message)
def createScene(self):
model=self.model # shortcut
for solid in model.solids.values():
if printLog:
Sofa.msg_info("SofaPython.sml","SceneDisplay: Display solid:" + solid.name)
color = solid.getValueByTag(self.param.colorByTag)
insertVisual(self.node, solid, color)
def write(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory)
data = {'massMatrix': str(self.mass.findData('massMatrix').value).replace('\n',' ')}
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.AffineMass",'Exported Affine Mass to '+filename)
def getVisualsByTags(self, solidId=None, solidTags=set(), meshTags=set()):
""" \return a selection of visual models, based on solidTags and meshTags
an empty tag set means all solids or meshes
"""
visuals = list()
if not solidId is None and len(solidTags):
Sofa.msg_warning("sml.Model.getVisualsByTags", "solidId and solidTags both specified, solidTags ignored")
solids = None
if not solidId is None:
solids = [self.model.solids[solidId]]
elif len(solidTags) :
solids = self.model.getSolidsByTags(solidTags)
else :
solids = self.model.solids.values()
for solid in solids:
if not solid.id in self.visuals:
if printLog:
Sofa.msg_info("SofaPython.sml", "No visual for solid "+solid.id)
continue
solidVisuals = self.visuals[solid.id]
meshes = solid.getMeshesByTags(meshTags) if len(meshTags) else solid.mesh
for mesh in meshes:
if not mesh.id in solidVisuals:
if printLog:
Sofa.msg_info("SofaPython.sml", "No visual for solid "+solid.id+", mesh: "+mesh.id)
continue
visual = solidVisuals[mesh.id]
visual.mesh = mesh # make sure we known which mesh is attached to this visual
visuals.append(visual)
return visuals
def AnimationManager(node):
"""
A Controller to manage all animations in the scene.
Before using the animation framework an AnimationManager
must be added to the scene. It has in charge, at each time step
to update all the running animations.
Returns:
AnimationManagerController
Example:
.. sourcecode:: python
def createScene(rootNode)
AnimationManager(rootNode)
"""
global manager
if manager != None:
Sofa.msg_info(
node,
"There is already one animation manager in this scene...why do you need a second one ?"
)
return manager
manager = AnimationManagerController(node)
return manager
def processProperties(self, key, kv, stack, frame):
if not isinstance(kv, list):
raise Exception("This shouldn't happen, exepecting only list")
msg = ""
for k,v in kv:
## Check if the property named by "k" already exists.
if hasattr(self, k):
msg += " - cannot add a property named '"+k+"' as it already exists"
continue
if isAStringToken(v):
v=processString(v, stack, frame)
if isinstance(v, int):
self.addNewData(k, "Properties", "", "d", v)
elif isinstance(v, str) or isinstance(v,unicode):
self.addNewData(k, "Properties", "", "s", str(v))
elif isinstance(v, float):
self.addNewData(k, "Properties", "", "f", v)
if hasattr(self, k):
msg += " - adding: '"+str(k)+"' = "+str(v)
else:
msg += " - unable to create a property from the value '"+str(v)+"'"
Sofa.msg_info(self, pslprefix+"Adding a user properties: \n"+msg)
def createScene(node):
# some code before
a = 0
# w/ emitter
Sofa.msg_info( "MyPythonEmitter", "my message info a="+str(a) )
Sofa.msg_warning( "MyPythonEmitter a="+str(a), "my message warning" )
Sofa.msg_error( "MyPythonEmitter", "my message error" )
Sofa.msg_fatal( "MyPythonEmitter", "my message fatal" )
# some code in between
a = 2
# w/o emitter
Sofa.msg_info( "my message info a="+str(a) )
Sofa.msg_warning( "my message warning" )
Sofa.msg_error( "my message error" )
Sofa.msg_fatal( "my message fatal" )
# more complex code was causing trouble, so try it
model = SofaPython.sml.Model("smlSimple.sml")
# # invalid calls
# Sofa.msg_info( 100 )
# Sofa.msg_info( "emitter", "message", "extra" )
sys.stdout.flush()
def writeStrains(self, filenamePrefix=None, directory=""):
if not self.strainDofs is None:
filename = self.getFilename(filenamePrefix,directory).replace(".json","_E.json")
data = {'type': self.type,'position': SofaPython.Tools.listListToStr(self.strainDofs.position) }
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.Behavior",'Exported Strains in: '+filename)
def writeObj(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory).replace("json","obj")
with open(filename, 'w') as f:
f.write(self.name+"\n")
for p in self.sampler.position:
f.write("v "+SofaPython.Tools.listToStr(p)+"\n")
if printLog:
Sofa.msg_info("Flexible.API.Behavior",'Exported Gauss Points as a mesh: '+filename)
def test_loggedMessagesBinding(self):
node = create_scene("a_node")
self.assertEqual(node.getLoggedMessagesAsString(), "")
Sofa.msg_info(node, "This is a new message")
self.assertTrue("This is a new message" in node.getLoggedMessagesAsString())
self.assertEqual(node.countLoggedMessages(), 1)
node.clearLoggedMessages()
self.assertEqual(node.countLoggedMessages(), 0)
def insertJoint(jointModel, rigids, param):
""" create a StructuralAPI.GenericRigidJoint from the jointModel """
frames = list()
for i, offset in enumerate(jointModel.offsets):
if not jointModel.solids[i].id in rigids:
Sofa.msg_warning(
"Compliant.sml", "insertJoint " + jointModel.name +
" failed: " + jointModel.solids[i].id + " is not a rigid body")
return None
rigid = rigids[jointModel.solids[i].id] # shortcut
if rigid is None:
Sofa.msg_warning(
"Compliant.sml",
"in joint {0}, solid {1} is missing, ignored".format(
jointModel.name, jointModel.solids[i].id))
return
if not offset is None:
if offset.isAbsolute():
frames.append(
rigid.addAbsoluteOffset(offset.name, offset.value))
else:
frames.append(rigid.addOffset(offset.name, offset.value))
if not param is None:
frames[-1].dofs.showObject = param.showOffset
frames[
-1].dofs.showObjectScale = SofaPython.units.length_from_SI(
param.showOffsetScale)
else:
frames.append(rigid)
if printLog:
Sofa.msg_info("Compliant.sml", "insertJoint " + jointModel.name)
mask = [1] * 6
limits = [] # mask for limited dofs
isLimited = True # does the joint have valid limits?
for d in jointModel.dofs:
if isLimited:
if d.min == None or d.max == None:
isLimited = False # as soon as a limit is not defined, the limits cannot work
else:
limits.append(d.min)
limits.append(d.max)
mask[d.index] = 0
joint = StructuralAPI.GenericRigidJoint(
jointModel.name,
frames[0].node,
frames[1].node,
mask,
compliance=SofaPython.sml.getValueByTag(param.jointComplianceByTag,
jointModel.tags),
isCompliance=SofaPython.sml.getValueByTag(param.jointIsComplianceByTag,
jointModel.tags))
if isLimited:
joint.addLimits(limits)
return joint
def read(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory)
if os.path.isfile(filename):
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
self.dof = self.node.createObject("MechanicalObject", name="dofs", template=data['template'], position=data['position'], rest_position=data['rest_position'])
if printLog:
Sofa.msg_info("Flexible.API.AffineDof",'Imported Affine Dof from '+filename)
def read(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory)
if os.path.isfile(filename):
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
self.mass = self.dofAffineNode.createObject('AffineMass', name='mass', massMatrix=data['massMatrix'])
if printLog:
Sofa.msg_info("Flexible.API.AffineMass",'Imported Affine Mass from '+filename)
def checkSysPathDuplicate():
for p in sys.path:
print p
for p in sys.path:
print p
if (sys.path.count(p)>1):
Sofa.msg_info("Found duplicate path : "+p)
if not EXPECT_EQ(1,sys.path.count(p),"sys.path.count("+p+")"):
return False
return True
def write(self, filenamePrefix=None, directory=""):
if self.dof is None:
Sofa.msg_error("Flexible.API.AffineDof","write : no dof")
return
filename = self.getFilename(filenamePrefix,directory)
data = {'template':'Affine', 'rest_position': affineDatatostr(self.dof.rest_position), 'position': affineDatatostr(self.dof.position)}
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.AffineDof",'Exported Affine Dof to '+filename)
def initGraph(self, node):
Sofa.msg_info("initGraph ENTER")
child = node.createChild("temporary_node")
# FROM HERE, 'child' was added to the nodes to init in ScriptEnvironment, but it is not anymore
node.removeChild(child)
# 'child' is no longer in the scene graph but still was in ScriptEnvironment, but it is not anymore
Sofa.msg_info("initGraph EXIT")
def initGraph(self, node):
Sofa.msg_info("initGraph ENTER")
child = node.createChild("temporary_node")
# FROM HERE, 'child' was added to the nodes to init in ScriptEnvironment, but it is not anymore
node.removeChild( child )
# 'child' is no longer in the scene graph but still was in ScriptEnvironment, but it is not anymore
Sofa.msg_info("initGraph EXIT")
def write(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory)
volumeDim = len(self.sampler.volume)/ len(self.sampler.position) if isinstance(self.sampler.volume, list) is True else 1 # when volume is a list (several GPs or order> 1)
data = {'type': self.type, 'volumeDim': str(volumeDim), 'inputVolume': SofaPython.Tools.listListToStr(self.sampler.volume), 'position': SofaPython.Tools.listListToStr(self.sampler.position),
'indices': self.mapping.indices, 'weights': self.mapping.weights,
'weightGradients': self.mapping.weightGradients, 'weightHessians': self.mapping.weightHessians}
# @todo: add restShape ?
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.Behavior",'Exported Gauss Points to '+filename)
def read(self, filenamePrefix=None, directory="", **kwargs):
filename = self.getFilename(filenamePrefix,directory)
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
self.sampler = self.node.createObject('GaussPointContainer',name='GPContainer', volumeDim=data['volumeDim'], inputVolume=data['inputVolume'], position=data['position'], **kwargs)
if not self.labelImage is None and not self.labels is None:
if self.labelImage.prefix == "Branching":
celloffsets = self.node.createObject("BranchingCellOffsetsFromPositions", template=self.labelImage.template(), name="cell", position =self.sampler.getLinkPath()+".position", src=self.labelImage.getImagePath(), labels=concat(self.labels))
self.cell = celloffsets.getLinkPath()+".cell"
if printLog:
Sofa.msg_info("Flexible.API.Behavior",'Imported Gauss Points from '+filename)
def write(self, filenamePrefix=None, directory=""):
""" write weights of the linear mapping
"""
if self.mapping is None:
return
if self.mapping.getClassName().find("Linear") == -1:
return
filename = self.getFilename(filenamePrefix,directory)
data = {'indices': self.mapping.indices, 'weights': self.mapping.weights}
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.Deformable",'Exported Weights to '+filename)
def onAnimateBeginEvent(self, event):
# receive
data, addr = self.sock.recvfrom(8192) # simulink's UDP buffer size is fixed at 8192 bytes and is not configurable.
# msg_in = struct.unpack('d', data) # works with simulink
msg_in = struct.unpack('b', data) # works with matlab
Sofa.msg_info("received message:"+str(msg_in))
# send
pos = numpy.matrix(self.meca.position[0])
# msg_out = struct.pack('d', pos[0,0]) # works with simulink
msg_out = struct.pack('b', int(pos[0,0])) # works with matlab
self.sock.sendto(msg_out, (self.UDP_IP, self.UDP_port_out))
Sofa.msg_info("sent message:"+str(pos[0,0]))
def insertRigidScale(parentNode, rigidModel, param):
"""
Create a RigidScale.API.ShearlessAffineBody from the solidModel
"""
if printLog:
Sofa.msg_info("RigidScale.sml", "insertRigidScale " + rigidModel.name)
body = RigidScale.API.ShearlessAffineBody(parentNode, rigidModel.name)
if (not len(rigidModel.mesh) == 1):
Sofa.msg_warning(
"RigidScale.sml",
"insertRigidScale support only single mesh solid (nb meshes={0}) - solid {1} ignored"
.format(len(rigidModel.mesh), rigidModel.name))
return None
# TODO support multi meshes
meshFormatSupported = True
for mesh in rigidModel.mesh:
meshFormatSupported &= mesh.format == "obj" or mesh.format == "vtk"
if len(rigidModel.mesh) > 0 and meshFormatSupported:
body.setFromMesh(rigidModel.mesh[0].source,
numberOfPoints=SofaPython.sml.getValueByTag(
param.rigidScaleNbDofByTag, rigidModel.tags),
voxelSize=SofaPython.units.length_from_SI(
param.voxelSize),
density=SofaPython.units.massDensity_from_SI(1000.),
offset=rigidModel.position)
cm = body.addCollisionMesh(rigidModel.mesh[0].source)
cm.addVisualModel()
else:
body.setManually(offset=rigidModel.position)
body.addBehavior(youngModulus=SofaPython.units.elasticity_from_SI(
param.rigidScaleStiffness),
numberOfGaussPoint=8)
#cm = body.addCollisionMesh(rigidModel.mesh[0].source)
#cm.addVisualModel()
body.affineDofs.showObject = param.showAffine
body.affineDofs.showObjectScale = SofaPython.units.length_from_SI(
param.showAffineScale)
body.rigidDofs.showObject = param.showRigid
body.rigidDofs.showObjectScale = SofaPython.units.length_from_SI(
param.showRigidScale)
if param.showImage:
body.image.addViewer()
return body
def processImportPY(parent, importname, filename, key, stack, frame):
Sofa.msg_info(parent, pslprefix+"Importing '"+importname+".py' file format.")
pythonfile = open(filename).read()
locals = {}
frame = flattenStackFrame(stack)
exec(pythonfile, frame, locals)
if not "PSLExport" in locals:
Sofa.msg_error(parent, pslprefix+"The file '"+filename+"' does not seem to contain PSL templates.")
return
for name in locals:
templates[importname+"."+name] = locals[name]
def createObject(parentNode, name, stack , frame, kv):
if name in sofaComponents:
obj = parentNode.createObject(name, **kv)
for k in kv:
if getField(obj, k) == None:
Sofa.msg_info(obj, pslprefix+" attribute '"+str(k)+"' is a parsing hook. Let's add Data field to fix it. To remove this warning stop using parsing hook.")
d = obj.addNewData(k, "PSL", "", "s", str(kv[k]))
obj.findData(k).setPersistant(True)
return obj
kv["name"] = name
failureObject = parentNode.createObject("Undefined", **kv)
Sofa.msg_error(failureObject, pslprefix+" unable to create the object '"+str(name)+"'")
return failureObject
def processImportPSL(parent, importname, filename, key, stack, frame):
global imports, templates
im = parent.createObject("Import")
im.name = importname
f = open(filename).read()
loadedcontent = pslparserhjson.parse(f)
imports[filename] = importTemplates(loadedcontent)
msg = "From <i>" + filename + "</i> importing: <ul>"
for tname in imports[filename].keys():
templates[importname + "." + tname] = imports[filename][tname]
msg += " <li> template <i>" + tname + "</i> </li>"
msg += "</ul>"
Sofa.msg_info(im, msg)
def processImportPSL(parent, importname, filename, key, stack, frame):
global imports, templates
im = parent.createObject("Import")
im.name = importname
f = open(filename).read()
loadedcontent = pslparserhjson.parse(f)
imports[filename] = importTemplates(loadedcontent)
msg = "From <i>"+filename+"</i> importing: <ul>"
for tname in imports[filename].keys():
templates[importname+"."+tname] = imports[filename][tname]
msg+=" <li> template <i>"+tname+"</i> </li>"
msg += "</ul>"
Sofa.msg_info(im, msg)
def read(self, filenamePrefix=None, directory=""):
filename = self.getFilename(filenamePrefix,directory)
if os.path.isfile(filename):
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
# dofs
self.dof = self.node.createObject("MechanicalObject", name="dofs", template=data['template'], position=(data['position']), rest_position=(data['rest_position']))
# mesh
if 'hexahedra' in data and 'tetrahedra' in data:
self.mesh = self.node.createObject("Mesh", name="mesh", position=(data['rest_position']), hexahedra=data['hexahedra'], tetrahedra=data['tetrahedra'] )
# uniform mass
if 'totalMass' in data :
self.addUniformMass(data['totalMass'])
if printLog:
Sofa.msg_info("Flexible.API.FEMDof",'Imported FEM Dof from '+filename)
def processImportPY(parent, importname, filename, key, stack, frame):
Sofa.msg_info(parent,
pslprefix + "Importing '" + importname + ".py' file format.")
pythonfile = open(filename).read()
locals = {}
frame = flattenStackFrame(stack)
exec(pythonfile, frame, locals)
if not "PSLExport" in locals:
Sofa.msg_error(
parent, pslprefix + "The file '" + filename +
"' does not seem to contain PSL templates.")
return
for name in locals:
templates[importname + "." + name] = locals[name]
def read(self, filenamePrefix=None, directory=""):
""" read weights of the linear mapping
WARNING: the mapping should already be created
"""
if self.mapping is None:
return
if self.mapping.getClassName().find("Linear") == -1:
return
filename = self.getFilename(filenamePrefix,directory)
if os.path.isfile(filename):
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
self.mapping.indices= str(data['indices'])
self.mapping.weights= str(data['weights'])
if printLog:
Sofa.msg_info("Flexible.API.Deformable",'Imported Weights from '+filename)
def initGraph(self, node):
name = u"aaé朮ßþ"
mechanical_object = node.createObject("MechanicalObject", name=name)
self.ASSERT(unicode(mechanical_object.name, "utf-8") == name, "test1")
mechanical_object.name = name
self.ASSERT(unicode(mechanical_object.name, "utf-8") == name, "test2")
mechanical_object.name = u"ijðð…"
self.ASSERT(unicode(mechanical_object.name, "utf-8") == u"ijðð…", "test3")
self.ASSERT(isinstance(mechanical_object.name, str), "test4")
Sofa.msg_info(mechanical_object.name)
mechanical_object.name = mechanical_object.name
def initGraph(self, node):
name = u"aaé朮ßþ"
mechanical_object = node.createObject("MechanicalObject", name=name)
self.ASSERT(unicode(mechanical_object.name, "utf-8") == name, "test1")
mechanical_object.name = name
self.ASSERT(unicode(mechanical_object.name, "utf-8") == name, "test2")
mechanical_object.name = u"ijðð…"
self.ASSERT(
unicode(mechanical_object.name, "utf-8") == u"ijðð…", "test3")
self.ASSERT(isinstance(mechanical_object.name, str), "test4")
Sofa.msg_info(mechanical_object.name)
mechanical_object.name = mechanical_object.name
def insertJoint(jointModel, rigids, scale=1, param=None):
""" create a StructuralAPI.GenericRigidJoint from the jointModel """
frames=list()
for i,offset in enumerate(jointModel.offsets):
if not jointModel.solids[i].id in rigids:
Sofa.msg_warning("Compliant.sml","insertJoint "+jointModel.name+" failed: "+jointModel.solids[i].id+" is not a rigid body")
return None
rigid = rigids[jointModel.solids[i].id] # shortcut
if rigid is None:
Sofa.msg_warning("Compliant.sml", "in joint {0}, solid {1} is missing, ignored".format(jointModel.name, jointModel.solids[i].id))
return
if not offset is None:
if offset.isAbsolute():
frames.append( rigid.addAbsoluteOffset(offset.name, StructuralAPI.scaleOffset(scale,offset.value)) )
else:
frames.append( rigid.addOffset(offset.name, StructuralAPI.scaleOffset(scale,offset.value)) )
if not param is None:
frames[-1].dofs.showObject = param.showOffset
frames[-1].dofs.showObjectScale = SofaPython.units.length_from_SI(param.showOffsetScale)
else:
frames.append(rigid)
if printLog:
Sofa.msg_info("Compliant.sml","insertJoint "+jointModel.name)
mask = [1]*6
limits=[] # mask for limited dofs
isLimited = True # does the joint have valid limits?
for d in jointModel.dofs:
if isLimited:
if d.min==None or d.max==None:
isLimited = False # as soon as a limit is not defined, the limits cannot work
else:
limits.append(d.min)
limits.append(d.max)
mask[d.index] = 0
joint = StructuralAPI.GenericRigidJoint(jointModel.name, frames[0].node, frames[1].node, mask,
compliance=SofaPython.sml.getValueByTag(param.jointComplianceByTag, jointModel.tags),
isCompliance=SofaPython.sml.getValueByTag(param.jointIsComplianceByTag, jointModel.tags))
if isLimited:
joint.addLimits(limits)
return joint
def insertRigidScale(parentNode, rigidModel, param):
"""
Create a RigidScale.API.ShearlessAffineBody from the solidModel
"""
if printLog:
Sofa.msg_info("RigidScale.sml", "insertRigidScale "+rigidModel.name)
body = RigidScale.API.ShearlessAffineBody(parentNode, rigidModel.name)
if (not len(rigidModel.mesh)==1):
Sofa.msg_warning("RigidScale.sml", "insertRigidScale support only single mesh solid (nb meshes={0}) - solid {1} ignored".format(len(rigidModel.mesh), rigidModel.name))
return None
# TODO support multi meshes
meshFormatSupported = True
for mesh in rigidModel.mesh :
meshFormatSupported &= mesh.format=="obj" or mesh.format=="vtk"
if len(rigidModel.mesh)>0 and meshFormatSupported:
body.setFromMesh(rigidModel.mesh[0].source,
numberOfPoints = SofaPython.sml.getValueByTag(param.rigidScaleNbDofByTag, rigidModel.tags),
voxelSize = SofaPython.units.length_from_SI(param.voxelSize),
density = SofaPython.units.massDensity_from_SI(1000.),
offset = rigidModel.position)
else:
body.setManually(offset=rigidModel.position);
#body.addBehavior(youngModulus=SofaPython.units.elasticity_from_SI(param.rigidScaleStiffness), numberOfGaussPoint=8)
#cm = body.addCollisionMesh(rigidModel.mesh[0].source)
#cm.addVisualModel()
body.affineDofs.showObject = param.showAffine
body.affineDofs.showObjectScale = SofaPython.units.length_from_SI(param.showAffineScale)
body.rigidDofs.showObject = param.showRigid
body.rigidDofs.showObjectScale = SofaPython.units.length_from_SI(param.showRigidScale)
print "affines:", body.affineDofs.showObject, body.affineDofs.showObjectScale
print "rigids: ", body.rigidDofs.showObject, body.rigidDofs.showObjectScale
if param.showImage:
body.image.addViewer()
return body
def createObject(parentNode, name, stack, frame, kv):
if name in sofaComponents:
obj = parentNode.createObject(name, **kv)
for k in kv:
if getField(obj, k) == None:
Sofa.msg_info(
obj, pslprefix + " attribute '" + str(k) +
"' is a parsing hook. Let's add Data field to fix it. To remove this warning stop using parsing hook."
)
d = obj.addNewData(k, "PSL", "", "s", str(kv[k]))
obj.findData(k).setPersistant(True)
return obj
kv["name"] = name
failureObject = parentNode.createObject("Undefined", **kv)
Sofa.msg_error(
failureObject,
pslprefix + " unable to create the object '" + str(name) + "'")
return failureObject
def write(self, filenamePrefix=None, directory=""):
if self.dof is None:
Sofa.msg_error("Flexible.API.FEMDof", "write : no dof")
return
filename = self.getFilename(filenamePrefix, directory)
data = {
'template': 'Vec3',
'rest_position': lconcat(self.dof.rest_position),
'position': lconcat(self.dof.position)
}
# add mapping data if existing
if not self.mapping is None:
if self.mapping.getClassName().find("Linear") != -1:
data['mappingType'] = self.mapping.getClassName()
data['indices'] = self.mapping.indices
data['weights'] = self.mapping.weights
elif self.mapping.getClassName().find("SubsetMultiMapping") != -1:
data['mappingType'] = self.mapping.getClassName()
data['indexPairs'] = lconcat(self.mapping.indexPairs)
elif self.mapping.getClassName().find("SubsetMapping") != -1:
data['mappingType'] = self.mapping.getClassName()
data['indices'] = lconcat(self.mapping.indices)
# add some topology data if existing
if not self.mesh is None:
# data['edges']=self.mesh.edges
# data['triangles']=self.mesh.triangles
# data['quads']=self.mesh.quads
data['hexahedra'] = lconcat(self.mesh.hexahedra)
data['tetrahedra'] = lconcat(self.mesh.tetrahedra)
# add mass data if existing
if not self.mass is None:
data['totalMass'] = self.mass.totalMass
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.FEMDof",
'Exported FEM Dof to ' + filename)
def readMapping(self, filenamePrefix=None, directory=""):
""" read mapping parameters
WARNING: the mapping shoud be already created
"""
if self.mapping is None:
return
filename = self.getFilename(filenamePrefix,directory)
if os.path.isfile(filename):
data = dict()
with open(filename,'r') as f:
data.update(json.load(f))
if 'mappingType' in data:
if data['mappingType'].find("Linear") != -1:
self.mapping.indices= str(data['indices'])
self.mapping.weights= str(data['weights'])
elif data['mappingType'].find("SubsetMultiMapping") != -1:
self.mapping.indexPairs= str(data['indexPairs'])
elif data['mappingType'].find("SubsetMapping") != -1:
self.mapping.indices= str(data['indices'])
if printLog:
Sofa.msg_info("Flexible.API.FEMDof",'Imported FEM Dof mapping from '+filename)
def __init__(self,
parent,
surfaceMeshFileName,
name="VisualModel",
color=[1., 1., 1.],
rotation=[0., 0., 0.],
translation=[0., 0., 0.],
scale=[1., 1., 1.]):
self.node = Node(parent, name)
if not self.getRoot().getObject("SofaOpenglVisual", warning=False):
if not self.getRoot().getObject("/Config/SofaOpenglVisual",
warning=False):
Sofa.msg_info(
"Missing RequiredPlugin SofaOpenglVisual in the scene, add it from Prefab VisualModel."
)
self.getRoot().createObject("RequiredPlugin",
name="SofaOpenglVisual")
if surfaceMeshFileName.endswith(".stl"):
self.loader = self.node.createObject('MeshSTLLoader',
name="loader",
filename=surfaceMeshFileName)
elif surfaceMeshFileName.endswith(".obj"):
self.loader = self.node.createObject('MeshObjLoader',
name="loader",
filename=surfaceMeshFileName)
else:
print(
"Extension not handled in STLIB/python/stlib/visuals for file: "
+ str(surfaceMeshFileName))
self.model = self.node.createObject('OglModel',
name="model",
src="@loader",
rotation=rotation,
translation=translation,
scale3d=scale,
color=color,
updateNormals=False)
def write(self, filenamePrefix=None, directory=""):
if self.dof is None:
Sofa.msg_error("Flexible.API.FEMDof","write : no dof")
return
filename = self.getFilename(filenamePrefix,directory)
data = {'template':'Vec3', 'rest_position': lconcat(self.dof.rest_position), 'position': lconcat(self.dof.position)}
# add mapping data if existing
if not self.mapping is None:
if self.mapping.getClassName().find("Linear") != -1:
data['mappingType']=self.mapping.getClassName()
data['indices']=self.mapping.indices
data['weights']=self.mapping.weights
elif self.mapping.getClassName().find("SubsetMultiMapping") != -1:
data['mappingType']=self.mapping.getClassName()
data['indexPairs']=lconcat(self.mapping.indexPairs)
elif self.mapping.getClassName().find("SubsetMapping") != -1:
data['mappingType']=self.mapping.getClassName()
data['indices']=lconcat(self.mapping.indices)
# add some topology data if existing
if not self.mesh is None:
# data['edges']=self.mesh.edges
# data['triangles']=self.mesh.triangles
# data['quads']=self.mesh.quads
data['hexahedra']=lconcat(self.mesh.hexahedra)
data['tetrahedra']=lconcat(self.mesh.tetrahedra)
# add mass data if existing
if not self.mass is None:
data['totalMass']=self.mass.totalMass
with open(filename, 'w') as f:
json.dump(data, f)
if printLog:
Sofa.msg_info("Flexible.API.FEMDof",'Exported FEM Dof to '+filename)
def insertRigid(parentNode, rigidModel, density, scale=1, param=None):
""" create a StructuralAPI.RigidBody from the rigidModel. The model geometry is scaled with scale.
The rigidMass is computed from:
1) mass, com and inertia if present
2) mesh if possible
3) default to a unit sphere TODO: is it relevant to do so ?
"""
if printLog:
Sofa.msg_info("Compliant.sml","insertRigid "+rigidModel.name)
for mesh in rigidModel.mesh :
if rigidModel.meshAttributes[mesh.id].collision is True:
Sofa.msg_info("Compliant.sml"," collision mesh: "+mesh.name)
rigid = StructuralAPI.RigidBody(parentNode, rigidModel.name)
if not rigidModel.mass is None and not rigidModel.com is None and not rigidModel.inertia is None:
if not 1==scale:
Sofa.msg_info("Compliant.sml","scale is not supported in that case")
# all inertial data is present, let's use it
massinfo = SofaPython.mass.RigidMassInfo()
massinfo.mass = rigidModel.mass # TODO: convert units ?
massinfo.com = rigidModel.com # TODO: convert units ?
if len(rigidModel.inertia)==3 and not rigidModel.inertia_rotation is None:
massinfo.diagonal_inertia = rigidModel.inertia
massinfo.inertia_rotation = rigidModel.inertia_rotation
else:
massinfo.setFromInertia(rigidModel.inertia[0], rigidModel.inertia[1], rigidModel.inertia[2], # Ixx, Ixy, Ixz
rigidModel.inertia[3], rigidModel.inertia[4], # Iyy, Iyz
rigidModel.inertia[5] ) # Izz
rigid.setFromRigidInfo(massinfo, offset=rigidModel.position, inertia_forces = False ) # TODO: handle inertia_forces ?
elif len(rigidModel.mesh)!=0 :
# get inertia from meshes and density
rigid.setFromRigidInfo(rigidModel.getRigidMassInfo(density, scale), offset=StructuralAPI.scaleOffset(scale, rigidModel.position), inertia_forces = False ) # TODO: handle inertia_forces ?
#if not rigidModel.mass is None :
## no density but a mesh let's normalise computed mass with specified mass
#mass= SofaPython.units.mass_from_SI(rigidModel.mass)
#inertia = []
#for inert,m in zip(rigid.mass.inertia, rigid.mass.mass):
#for i in inert:
#inertia.append( i/m[0]*mass)
#rigid.mass.inertia = concat(inertia)
#rigid.mass.mass = mass
else:
# no mesh, get mass/inertia if present, default to a unit sphere
Sofa.msg_warning("Compliant.sml","insertRigid: using default rigidMass")
mass = rigidModel.mass if not rigidModel.mass is None else SofaPython.units.mass_from_SI(1.)
inertia = scale*scale*[1,1,1]
t = scale*rigidModel.position
if not rigidModel.com is None:
t[0] += scale*rigidModel.com[0]
t[1] += scale*rigidModel.com[1]
t[2] += scale*rigidModel.com[2]
rigid.setManually(t, mass, inertia)
if not param is None:
rigid.dofs.showObject = param.showRigid
rigid.dofs.showObjectScale = SofaPython.units.length_from_SI(param.showRigidScale)
# walk around to handle multiple meshes
# @todo: handle them in StructuralAPI ?
rigid.collisions=dict()
rigid.visuals=dict()
for mesh in rigidModel.mesh :
if rigidModel.meshAttributes[mesh.id].collision is True:
rigid.collisions[mesh.id] = rigid.addCollisionMesh(mesh.source,name_suffix='_'+mesh.name, scale3d=[scale]*3)
if rigidModel.meshAttributes[mesh.id].visual is True:
rigid.visuals[mesh.id] = rigid.collisions[mesh.id].addVisualModel()
elif rigidModel.meshAttributes[mesh.id].visual is True:
rigid.visuals[mesh.id] = rigid.addVisualModel(mesh.source,name_suffix='_'+mesh.name, scale3d=[scale]*3)
return rigid
def createScene(rootNode):
Sofa.msg_info("Message with emitter='SofaPython'")
Sofa.msg_info("Hello", "Message with emitter='Hello'")
Sofa.msg_info(rootNode, "Message with emitter='rootNode'")
Sofa.msg_error("Message with emitter='SofaPython'")
Sofa.msg_error("Hello", "Message with emitter='Hello'")
Sofa.msg_error(rootNode, "Message with emitter='rootNode'")
Sofa.msg_info("Message with emitter='SofaPython'", __file__, 1)
Sofa.msg_info("Hello", "Message with emitter='Hello'",__file__, 1)
Sofa.msg_info(rootNode, "Message with emitter='rootNode'",__file__, 1)
Sofa.msg_error("Message with emitter='SofaPython'",__file__, 1)
Sofa.msg_error("Hello", "Message with emitter='Hello'",__file__, 1)
Sofa.msg_error(rootNode, "Message with emitter='rootNode'",__file__, 1)
def onEndAnimationStep(self, dt):
Sofa.msg_info("onEndAnimationStep")
self.sendSuccess()
def setManually(self, filepath=None, offset=[[0,0,0,0,0,0,1]], voxelSize=0.01, density=1000, mass=1, inertia=[1,1,1], inertia_forces=False, generatedDir=None):
if len(offset) == 0:
Sofa.msg_error("RigidScale.API","ShearlessAffineBody should have at least 1 ShearLessAffine")
return
self.framecom = Frame.Frame()
self.bodyOffset = Frame.Frame([0,0,0,0,0,0,1])
path_affine_rigid = '@' + Tools.node_path_rel(self.affineNode, self.rigidNode)
path_affine_scale = '@' + Tools.node_path_rel(self.affineNode, self.scaleNode)
if len(offset) == 1:
self.frame = [Frame.Frame(offset[0])]
str_position = ""
for p in offset:
str_position = str_position + concat(p) + " "
### scene creation
# rigid dof
self.rigidDofs = self.rigidNode.createObject('MechanicalObject', template='Rigid3'+template_suffix, name='dofs', position=str_position, rest_position=str_position)
# scale dofs
self.scaleDofs = self.scaleNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='dofs', position=concat([1,1,1]*len(offset)))
# The positiveNode is now commented for the moment since it seems not working
"""positiveNode = self.scaleNode.createChild('positive')
positiveNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='positivescaleDOFs')
positiveNode.createObject('DifferenceFromTargetMapping', template='Vec3'+template_suffix+',Vec3'+template_suffix, applyRestPosition=1, targets=concat(target_scale))
positiveNode.createObject('UniformCompliance', isCompliance=1, compliance=0)
positiveNode.createObject('UnilateralConstraint')
positiveNode.createObject('Stabilization', name='Stabilization')"""
# affine dofs
self.affineDofs = self.affineNode.createObject('MechanicalObject', template='Affine', name='parent', showObject=0)
self.affineNode.createObject('RigidScaleToAffineMultiMapping', template='Rigid,Vec3,Affine', input1=path_affine_rigid, input2=path_affine_scale, output='@.', autoInit='1', printLog='0')
if filepath:
self.image = SofaImage.API.Image(self.rigidNode, name="image_" + self.name, imageType="ImageUC")
self.shapeFunction = Flexible.API.ShapeFunction(self.affineNode)
if generatedDir is None:
self.image.addMeshLoader(filepath, value=1, insideValue=1) # TODO support multiple meshes closingValue=1,
self.image.addMeshToImage(voxelSize)
self.shapeFunction.addVoronoi(self.image, position='@dofs.rest_position')
# mass
self.affineMassNode = self.affineNode.createChild('mass')
self.affineMassNode.createObject('TransferFunction', name='density', template='ImageUC,ImageD', inputImage='@' + Tools.node_path_rel(self.affineMassNode, self.image.node) + '/image.image', param='0 0 1 '+str(density))
self.affineMassNode.createObject('MechanicalObject', template='Vec3'+template_suffix)
self.affineMassNode.createObject('LinearMapping', template='Affine,Vec3'+template_suffix)
self.affineMassNode.createObject('MassFromDensity', name='MassFromDensity', template='Affine,ImageD', image='@density.outputImage', transform='@' + Tools.node_path_rel(self.affineMassNode, self.image.node) + '/image.transform', lumping='0')
self.mass = self.affineNode.createObject('AffineMass', massMatrix='@mass/MassFromDensity.massMatrix')
else:
self.image.addContainer(filename=self.node.name + "_rasterization.raw", directory=generatedDir)
self.shapeFunction.shapeFunction = serialization.importImageShapeFunction(self.affineNode, generatedDir+self.node.name+"_SF_indices.raw", generatedDir+self.node.name+"_SF_weights.raw", 'dofs')
self.mass = serialization.importAffineMass(self.affineNode, generatedDir+self.node.name+"_affinemass.json")
# computation of the object mass center
massInfo = SofaPython.mass.RigidMassInfo()
massInfo.setFromMesh(filepath, density, [1,1,1])
# get the object mass center
self.framecom.rotation = massInfo.inertia_rotation
self.framecom.translation = massInfo.com
else:
if (mass and inertia) and inertia != [0,0,0]:
Sofa.msg_info("RigidScale", "A RigidMass and a UniformMass are created for respectively the rigid and the scale since there is no mesh which can be used to compute the model mass.")
self.mass = self.rigidNode.createObject('RigidMass', name='mass', mass=mass, inertia=concat(inertia[:3]), inertia_forces=inertia_forces)
self.scaleNode.createObject('UniformMass', name='mass', mass=mass)
self.frame = []
for o in offset:
self.frame.append(Frame.Frame(o))
