def generate_rigid(filename, density=1000.0):
cmd = Sofa.build_dir() + "/bin/GenerateRigid"
args = filename
try:
output = Popen([cmd, args], stdout=PIPE)
line = output.stdout.read().split("\n")
except OSError:
print "error when calling GenerateRigid, do you have GenerateRigid built in SOFA ?"
raise
start = 2
# print line
mass = float(line[start].split(" ")[1])
volm = float(line[start + 1].split(" ")[1])
inrt = map(float, line[start + 2].split(" ")[1:])
com = map(float, line[start + 3].split(" ")[1:])
# TODO extract principal axes basis if needed
# or at least say that we screwd up
res = MassInfo()
# by default, GenerateRigid assumes 1000 kg/m^3 already
res.mass = (density / 1000.0) * mass
res.inertia = [mass * x for x in inrt]
res.com = com
return res
def generate_rigid(filename,
density=1000.0,
scale=[1, 1, 1],
rotation=[0, 0, 0],
rigidFilename=None):
# TODO bind GenerateRigid
# - faster than writing in a file
# - more robust (if several processes try to work in the same file)
if rigidFilename is None:
tmpfilename = Tools.path(__file__) + "/tmp.rigid"
else:
tmpfilename = rigidFilename
cmdRel = [
'GenerateRigid', filename, tmpfilename,
str(density),
str(scale[0]),
str(scale[1]),
str(scale[2]),
str(rotation[0]),
str(rotation[1]),
str(rotation[2])
]
cmd = list(cmdRel)
cmd[0] = Sofa.build_dir() + '/bin/' + cmd[0]
#print cmd
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
# try the debug version
cmd[0] += 'd'
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
try:
#try if it is accessible from PATH
output = Popen(cmdRel, stdout=PIPE)
except OSError:
# try the debug version
cmdRel[0] += 'd'
try:
output = Popen(cmdRel, stdout=PIPE)
except OSError:
print 'error when calling GenerateRigid, do you have GenerateRigid built in SOFA?'
raise
output.communicate() # wait until Popen command is finished!!!
return read_rigid(tmpfilename)
def generate_rigid(filename, density = 1000.0, scale=[1,1,1], rotation=[0,0,0], rigidFilename=None):
# TODO bind GenerateRigid
# - faster than writing in a file
# - more robust (if several processes try to work in the same file)
if rigidFilename is None:
tmpfilename = Tools.path( __file__ ) +"/tmp.rigid"
else:
tmpfilename = rigidFilename
cmdRel = [ 'GenerateRigid', filename, tmpfilename, str(density), str(scale[0]), str(scale[1]), str(scale[2]), str(rotation[0]), str(rotation[1]), str(rotation[2]) ]
cmd = list(cmdRel)
cmd[0] = Sofa.build_dir() + '/bin/' + cmd[0]
#print cmd
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
# try the debug version
cmd[0] += 'd'
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
try:
#try if it is accessible from PATH
output = Popen(cmdRel, stdout=PIPE)
except OSError:
# try the debug version
cmdRel[0] += 'd'
try:
output = Popen(cmdRel, stdout=PIPE)
except OSError:
print 'error when calling GenerateRigid, do you have GenerateRigid built in SOFA?'
raise
output.communicate() # wait until Popen command is finished!!!
return read_rigid(tmpfilename)
def __init__(self, name):
directory = Sofa.build_dir()
import platform
system = platform.system()
extension = 'so'
if system == 'Windows':
extension = 'dll'
elif system == 'Darwin':
extension = 'dylib'
prefix = 'lib'
suffix = extension
self.dll = ctypes.CDLL('{}/lib/{}{}.{}'.format(directory, prefix, name, suffix))
self.dll.argtypes.argtypes = [ type(self.dll.argtypes) ]
self.dll.argtypes.restype = ctypes.c_char_p
self.dll.restype.argtypes = [ type(self.dll.restype) ]
self.dll.restype.restype = ctypes.c_char_p
def __init__(self, name):
directory = Sofa.build_dir()
import platform
system = platform.system()
extension = "so"
if system == "Windows":
extension = "dll"
elif system == "Darwin":
extension = "dylib"
prefix = "lib"
suffix = extension
self.dll = ctypes.CDLL("{}/lib/{}{}.{}".format(directory, prefix, name, suffix))
self.dll.argtypes.argtypes = [type(self.dll.argtypes)]
self.dll.argtypes.restype = ctypes.c_char_p
self.dll.restype.argtypes = [type(self.dll.restype)]
self.dll.restype.restype = ctypes.c_char_p
def generate_rigid(filename, density = 1000.0, scale=[1,1,1], rotation=[0,0,0]):
# TODO bind GenerateRigid
# - faster than writing in a file
# - more robust (if several processes try to work in the same file)
tmpfilename = Tools.path( __file__ ) +"/tmp.rigid"
cmd = [ Sofa.build_dir() + '/bin/GenerateRigid', filename, tmpfilename, str(density), str(scale[0]), str(scale[1]), str(scale[2]), str(rotation[0]), str(rotation[1]), str(rotation[2]) ]
# print cmd
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
# try the debug version
cmd[0] += 'd'
try:
output = Popen(cmd, stdout=PIPE)
except OSError:
print 'error when calling GenerateRigid, do you have GenerateRigid built in SOFA?'
raise
output.communicate() # wait until Popen command is finished!!!
# GenerateRigid output is stored in the file tmpfilename
rigidFile = open( tmpfilename, "r" )
line = list( rigidFile )
rigidFile.close()
# for i in xrange(len(line)):
# print str(i) + str(line[i])
start = 1
res = MassInfo()
res.mass = float( line[start].split(' ')[1] )
#volm = float( line[start + 1].split(' ')[1] )
res.com = map(float, line[start + 3].split(' ')[1:] )
inertia = map(float, line[start + 2].split(' ')[1:] ) # pick inertia matrix from file
res.inertia = array( [res.mass * x for x in inertia] ).reshape( 3, 3 ) # convert it in numpy 3x3 matrix
# extracting principal axes basis and corresponding rotation and diagonal inertia
if inertia[1]>1e-5 or inertia[2]>1e-5 or inertia[5]>1e-5 : # if !diagonal (1e-5 seems big but the precision from a mesh is poor)
# print res.inertia
U, res.diagonal_inertia, V = linalg.svd(res.inertia)
# det should be 1->rotation or -1->reflexion
if linalg.det(U) < 0 : # reflexion
# made it a rotation by negating a column
# print "REFLEXION"
U[:,0] = -U[:,0]
res.inertia_rotation = quat.from_matrix( U )
# print "generate_rigid not diagonal U" +str(U)
# print "generate_rigid not diagonal V" +str(V)
# print "generate_rigid not diagonal d" +str(res.diagonal_inertia)
else :
res.diagonal_inertia = res.inertia.diagonal()
res.inertia_rotation = [0,0,0,1]
# print "generate_rigid " + str(res.mass) + " " + str( res.inertia ) + " " + str( res.diagonal_inertia )
return res
