def importModel(self, m):
print '\t\tmodel: '+m.get('Name')+'...'
if(m.get('Type') == 'Visualization'):
model = vtkesqui.vtkVisualizationModel()
model.SetTextureFileName(m.get('TextureFileName'))
elif(m.get('Type') == 'Collision'):
model = vtkesqui.vtkCollisionModel()
elif(m.get('Type') == 'Deformation'):
dm = m[0]
if dm.tag == 'Interface':
if dm.get('Type') == 'PSS':
model = vtkesqui.vtkParticleSpringSystemInterface()
model.SetTimeStep(float(dm.get('DeltaT')))
g = str(dm.get('Gravity')).split(' ')
model.SetGravity(float(g[0]), float(g[1]), float(g[2]))
model.SetSpring(float(dm.get('Spring')))
model.SetDamping(float(dm.get('Damping')))
model.SetDistance(float(dm.get('Distance')))
model.SetMass(float(dm.get('Mass')))
else:
return
#model.SetStatus(int(m.get('Status')))
model.SetName(m.get('Name'))
model.SetFileName(m.get('FileName'))
c = str(m.get('Color')).split(" ")
model.SetColor(float(c[0]), float(c[1]), float(c[2]))
model.SetVisibility(bool(m.get('Visibility')))
model.SetOpacity(float(m.get('Opacity')))
return model
def importModel(self, m):
print '\t\tmodel: ' + m.get('Name') + '...'
if (m.get('Type') == 'Visualization'):
model = vtkesqui.vtkVisualizationModel()
model.SetTextureFileName(m.get('TextureFileName'))
elif (m.get('Type') == 'Collision'):
model = vtkesqui.vtkCollisionModel()
elif (m.get('Type') == 'Deformation'):
dm = m[0]
if dm.tag == 'Interface':
if dm.get('Type') == 'PSS':
model = vtkesqui.vtkParticleSpringSystemInterface()
model.SetTimeStep(float(dm.get('DeltaT')))
g = str(dm.get('Gravity')).split(' ')
model.SetGravity(float(g[0]), float(g[1]), float(g[2]))
model.SetSpring(float(dm.get('Spring')))
model.SetDamping(float(dm.get('Damping')))
model.SetDistance(float(dm.get('Distance')))
model.SetMass(float(dm.get('Mass')))
else:
return
#model.SetStatus(int(m.get('Status')))
model.SetName(m.get('Name'))
model.SetFileName(m.get('FileName'))
c = str(m.get('Color')).split(" ")
model.SetColor(float(c[0]), float(c[1]), float(c[2]))
model.SetVisibility(bool(m.get('Visibility')))
model.SetOpacity(float(m.get('Opacity')))
return model
vis = vtkesqui.vtkVisualizationModel()
vis.SetName("ball_vis")
vis.SetFileName(fn)
vis.SetTextureFileName(tfn)
vis.SetOpacity(1.0)
vis.SetColor(1.0, 0.0, 1.0)
# Visualization Model
col = vtkesqui.vtkCollisionModel()
col.SetName("ball_vtkbioeng")
col.SetFileName(cfn)
col.SetOpacity(1.0)
col.SetColor(0.0, 0.0, 1.0)
# Deformation Model
defo = vtkesqui.vtkParticleSpringSystemInterface()
defo.SetName("ball_ParticleSpringSystem")
defo.SetFileName(dfn)
defo.SetOpacity(0.5)
defo.SetColor(1.0, 1.0, 1.0)
ball = vtkesqui.vtkScenarioElement()
ball.SetId(0)
ball.SetName("ball")
ball.SetPosition(3.0, 0.0, 0.0)
ball.SetOrientation(0, 0, -20)
ball.SetVisualizationModel(vis)
ball.SetCollisionModel(col)
ball.SetDeformationModel(defo)
organ = vtkesqui.vtkOrgan()
def main():
fn ="/home/david/vtkESQuiData/Scenario/Organs/ball.vtp"
tfn ="/home/david/vtkESQuiData/Scenario/Textures/muscle.jpg"
cfn ="/home/david/vtkESQuiData/Scenario/Organs/ball_col.vtp"
dfn ="/home/david/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"
# Visualization Model
vis = vtkesqui.vtkVisualizationModel()
vis.SetName("ball_vis")
vis.SetFileName(fn)
vis.SetTextureFileName(tfn)
vis.SetOpacity(1.0)
vis.SetColor(1.0, 1.0, 1.0)
# Visualization Model
col = vtkesqui.vtkCollisionModel()
col.SetName("ball_vtkbioeng")
col.SetFileName(cfn)
col.SetVisibility(1)
# Deformation Model
defo = vtkesqui.vtkParticleSpringSystemInterface()
defo.SetName("ball_defo")
defo.SetFileName(dfn)
defo.SetOpacity(0.5)
defo.SetVisibility(1)
defo.SetColor(1.0, 1.0, 1.0)
defo.SetSpring(150)
defo.SetDistance(1.0)
defo.SetDamping(3)
defo.SetMass(.5)
defo.SetTimeStep(0.001)
ball = vtkesqui.vtkScenarioElement()
ball.SetId(0)
ball.SetName("ball")
ball.SetPosition(3.0, 0.0, 0.0)
ball.SetOrientation(0, 0, -20)
ball.SetVisualizationModel(vis)
ball.SetCollisionModel(col)
ball.SetDeformationModel(defo)
ball.Update()
ren = vtk.vtkRenderer()
renWin = vtk.vtkRenderWindow()
renWin.AddRenderer(ren)
renWin.SetWindowName("vtkESQui - Particle Spring System")
iren = vtk.vtkRenderWindowInteractor()
iren.SetRenderWindow(renWin)
ren.AddActor(vis.GetActor())
ren.AddActor(col.GetActor())
ren.AddActor(defo.GetActor())
ren.SetBackground(0.3, 0.6, 0.3)
renWin.SetSize(800, 600)
ren.ResetCamera()
camera = ren.GetActiveCamera()
camera.Azimuth(15)
camera.Zoom(1.6)
iren.Initialize()
# Sign up to receive TimerEvent
cb = vtkTimerCallback()
cb.ball = ball
iren.AddObserver('TimerEvent', cb.execute)
timerId = iren.CreateRepeatingTimer(1)
cb.renderTimerId = timerId
cb.defo = defo
iren.Start()
def main():
fn0 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn1 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp"
fn1c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp"
fn2 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp"
fn2c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r_col.vtp"
fn0t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fn4d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"
fn4t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/liver.jpg"
fn5 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_col.vtp"
fn5d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_def_c10.vtp"
fn5t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/intestine2.jpg"
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetOpacity(0.0)
col_stick_l.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0, 0, 6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetOpacity(0.0)
col_tip_l.SetColor(1.0, 1.0, 1.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0, 0, 6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetOpacity(0.0)
col_stick_r.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, -20)
stick_r.SetOrigin(0, 0, 6)
stick_r.SetVisualizationModel(vis_stick_r)
# stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_l_lever_r = vtkesqui.vtkVisualizationModel()
vis_l_lever_r.SetName("vis_l_lever_r")
vis_l_lever_r.SetFileName(fn1)
vis_l_lever_r.SetTextureFileName(fn0t)
vis_l_lever_r.SetOpacity(1.0)
vis_l_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_l_lever_r = vtkesqui.vtkCollisionModel()
col_l_lever_r.SetName("col_l_lever_r_vtkbioeng")
col_l_lever_r.SetFileName(fn1c)
col_l_lever_r.SetOpacity(0.0)
col_l_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (l_lever_r)
l_lever_r = vtkesqui.vtkScenarioElement()
l_lever_r.SetName("l_lever_r")
l_lever_r.SetPosition(4.0, 0.0, 0.0)
l_lever_r.SetOrientation(0, 0, -20)
l_lever_r.SetOrigin(0, 0, 6)
l_lever_r.SetVisualizationModel(vis_l_lever_r)
l_lever_r.SetCollisionModel(col_l_lever_r)
# Visualization model
vis_r_lever_r = vtkesqui.vtkVisualizationModel()
vis_r_lever_r.SetName("vis_r_lever_r")
vis_r_lever_r.SetFileName(fn2)
vis_r_lever_r.SetTextureFileName(fn0t)
vis_r_lever_r.SetOpacity(1.0)
vis_r_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_r_lever_r = vtkesqui.vtkCollisionModel()
col_r_lever_r.SetName("col_r_lever_r_vtkbioeng")
col_r_lever_r.SetFileName(fn2c)
col_r_lever_r.SetOpacity(0.0)
col_r_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (r_lever_r)
r_lever_r = vtkesqui.vtkScenarioElement()
r_lever_r.SetName("r_lever_r")
r_lever_r.SetPosition(4.0, 0.0, 0.0)
r_lever_r.SetOrientation(0, 0, -20)
r_lever_r.SetOrigin(0, 0, 6)
r_lever_r.SetVisualizationModel(vis_r_lever_r)
r_lever_r.SetCollisionModel(col_r_lever_r)
grasper_r = vtkesqui.vtkToolGrasper()
grasper_r.SetStick(stick_r)
grasper_r.SetLeftLever(l_lever_r)
grasper_r.SetRightLever(r_lever_r)
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(fn4t)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetOpacity(0.0)
# Deformation model
def_ball = vtkesqui.vtkParticleSpringSystemInterface()
def_ball.SetName("def_ball_particle")
def_ball.SetFileName(fn4d)
def_ball.SetOpacity(0.0)
def_ball.SetSpring(150)
def_ball.SetDistance(1.0)
def_ball.SetDamping(3)
def_ball.SetMass(0.1)
def_ball.SetTimeStep(0.001)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("ball")
e_ball.SetPosition(0.0, 0.0, -2.0)
e_ball.SetOrientation(0, 0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
e_ball.SetDeformationModel(def_ball)
ball = vtkesqui.vtkOrgan()
ball.AddElement(e_ball)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Collision model
col_cavity = vtkesqui.vtkCollisionModel()
col_cavity.SetName("col_cavity_vtkbioeng")
col_cavity.SetFileName(fn5c)
col_cavity.SetOpacity(0.0)
# Deformation model
def_cavity = vtkesqui.vtkParticleSpringSystemInterface()
def_cavity.SetName("def_cavity_particle")
def_cavity.SetFileName(fn5d)
def_cavity.SetOpacity(0.0)
def_cavity.SetSpring(150)
def_cavity.SetDistance(1.0)
def_cavity.SetDamping(3)
def_cavity.SetMass(0.1)
def_cavity.SetTimeStep(0.001)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("cavity")
e_cavity.SetPosition(0.0, 0.0, -2.0)
e_cavity.SetOrientation(-30, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
e_cavity.SetCollisionModel(col_cavity)
e_cavity.SetDeformationModel(def_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.AddElement(e_cavity)
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy")
scenario.AddObject(probe_l)
scenario.AddObject(grasper_r)
scenario.AddObject(ball)
scenario.AddObject(cavity)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
# /********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0, 1, 1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
style = vtkesqui.vtkDefaultInteractorStyle()
style.SetScenario(scenario)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetInteractorStyle(style)
simulation.SetRenderTimerRate(50)
simulation.SetSimulationTimerRate(50)
simulation.SetInteractionTimerRate(50)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
simulation.Run()
vis = vtkesqui.vtkVisualizationModel()
vis.SetName("ball_vis")
vis.SetFileName(fn)
vis.SetTextureFileName(tfn)
vis.SetOpacity(1.0)
vis.SetColor(1.0, 0.0, 1.0)
# Visualization Model
col = vtkesqui.vtkCollisionModel()
col.SetName("ball_vtkbioeng")
col.SetFileName(cfn)
col.SetOpacity(1.0)
col.SetColor(0.0, 0.0, 1.0)
# Deformation Model
defo = vtkesqui.vtkParticleSpringSystemInterface()
defo.SetName("ball_ParticleSpringSystem")
defo.SetFileName(dfn)
defo.SetOpacity(0.5)
defo.SetColor(1.0, 1.0, 1.0)
ball = vtkesqui.vtkScenarioElement()
ball.SetId(0)
ball.SetName("ball")
ball.SetPosition(3.0, 0.0, 0.0)
ball.SetOrientation(0, 0, -20)
ball.SetVisualizationModel(vis)
ball.SetCollisionModel(col)
ball.SetDeformationModel(defo)
organ = vtkesqui.vtkOrgan()
def main():
fn0 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick.vtp"
fn0c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/stick_col.vtp"
fn1 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l.vtp"
fn1c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_l_col.vtp"
fn2 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r.vtp"
fn2c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Grasper/lever_r_col.vtp"
fn0t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/metal.jpg"
fn3 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip.vtp"
fn3c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Tools/Probe/tip_col.vtp"
fn4 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball.vtp"
fn4c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_col.vtp"
fn4d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/ball_def_c10.vtp"
fn4t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/liver.jpg"
fn5 = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity.vtp"
fn5c = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_col.vtp"
fn5d = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Organs/cavity_def_c10.vtp"
fn5t = "/Users/davidcastillobolado/vtkESQuiData/Scenario/Textures/intestine2.jpg"
# Left Tool (Probe)
# Visualization model
vis_stick_l = vtkesqui.vtkVisualizationModel()
vis_stick_l.SetName("vis_stick_l")
vis_stick_l.SetFileName(fn0)
vis_stick_l.SetTextureFileName(fn0t)
vis_stick_l.SetOpacity(1.0)
vis_stick_l.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_l = vtkesqui.vtkCollisionModel()
col_stick_l.SetName("col_stick_l_vtkbioeng")
col_stick_l.SetFileName(fn0c)
col_stick_l.SetOpacity(0.0)
col_stick_l.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_l)
stick_l = vtkesqui.vtkScenarioElement()
stick_l.SetName("stick_l")
stick_l.SetPosition(-4.0, 0.0, 0.0)
stick_l.SetOrientation(0, 0, 20)
stick_l.SetOrigin(0, 0, 6)
stick_l.SetVisualizationModel(vis_stick_l)
stick_l.SetCollisionModel(col_stick_l)
# Visualization model
vis_tip_l = vtkesqui.vtkVisualizationModel()
vis_tip_l.SetName("vis_tip_l")
vis_tip_l.SetFileName(fn3)
vis_tip_l.SetTextureFileName(fn0t)
vis_tip_l.SetOpacity(1.0)
vis_tip_l.SetColor(1.0, 0.0, 0.0)
# Collision model
col_tip_l = vtkesqui.vtkCollisionModel()
col_tip_l.SetName("col_tip_l_vtkbioeng")
col_tip_l.SetFileName(fn3c)
col_tip_l.SetOpacity(0.0)
col_tip_l.SetColor(1.0, 1.0, 1.0)
# Second tool element (tip_l)
tip_l = vtkesqui.vtkScenarioElement()
tip_l.SetName("tip_l")
tip_l.SetPosition(-4.0, 0.0, 0.0)
tip_l.SetOrientation(0, 0, 20)
tip_l.SetOrigin(0, 0, 6)
tip_l.SetVisualizationModel(vis_tip_l)
tip_l.SetCollisionModel(col_tip_l)
probe_l = vtkesqui.vtkToolProbe()
probe_l.AddElement(stick_l)
probe_l.AddElement(tip_l)
# Right tool (Grasper)
# Visualization model
vis_stick_r = vtkesqui.vtkVisualizationModel()
vis_stick_r.SetName("vis_stick_r")
vis_stick_r.SetFileName(fn0)
vis_stick_r.SetTextureFileName(fn0t)
vis_stick_r.SetOpacity(1.0)
vis_stick_r.SetColor(1.0, 1.0, 1.0)
# Collision model
col_stick_r = vtkesqui.vtkCollisionModel()
col_stick_r.SetName("col_stick_r_vtkbioeng")
col_stick_r.SetFileName(fn0c)
col_stick_r.SetOpacity(0.0)
col_stick_r.SetColor(1.0, 1.0, 1.0)
# First tool element (stick_r)
stick_r = vtkesqui.vtkScenarioElement()
stick_r.SetName("stick_r")
stick_r.SetPosition(4.0, 0.0, 0.0)
stick_r.SetOrientation(0, 0, -20)
stick_r.SetOrigin(0, 0, 6)
stick_r.SetVisualizationModel(vis_stick_r)
#stick_r.SetCollisionModel(col_stick_r)
# Visualization model
vis_l_lever_r = vtkesqui.vtkVisualizationModel()
vis_l_lever_r.SetName("vis_l_lever_r")
vis_l_lever_r.SetFileName(fn1)
vis_l_lever_r.SetTextureFileName(fn0t)
vis_l_lever_r.SetOpacity(1.0)
vis_l_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_l_lever_r = vtkesqui.vtkCollisionModel()
col_l_lever_r.SetName("col_l_lever_r_vtkbioeng")
col_l_lever_r.SetFileName(fn1c)
col_l_lever_r.SetOpacity(0.0)
col_l_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (l_lever_r)
l_lever_r = vtkesqui.vtkScenarioElement()
l_lever_r.SetName("l_lever_r")
l_lever_r.SetPosition(4.0, 0.0, 0.0)
l_lever_r.SetOrientation(0, 0, -20)
l_lever_r.SetOrigin(0, 0, 6)
l_lever_r.SetVisualizationModel(vis_l_lever_r)
l_lever_r.SetCollisionModel(col_l_lever_r)
# Visualization model
vis_r_lever_r = vtkesqui.vtkVisualizationModel()
vis_r_lever_r.SetName("vis_r_lever_r")
vis_r_lever_r.SetFileName(fn2)
vis_r_lever_r.SetTextureFileName(fn0t)
vis_r_lever_r.SetOpacity(1.0)
vis_r_lever_r.SetColor(0.0, 1.0, 0.0)
# Collision model
col_r_lever_r = vtkesqui.vtkCollisionModel()
col_r_lever_r.SetName("col_r_lever_r_vtkbioeng")
col_r_lever_r.SetFileName(fn2c)
col_r_lever_r.SetOpacity(0.0)
col_r_lever_r.SetColor(1.0, 1.0, 1.0)
# Second tool element (r_lever_r)
r_lever_r = vtkesqui.vtkScenarioElement()
r_lever_r.SetName("r_lever_r")
r_lever_r.SetPosition(4.0, 0.0, 0.0)
r_lever_r.SetOrientation(0, 0, -20)
r_lever_r.SetOrigin(0, 0, 6)
r_lever_r.SetVisualizationModel(vis_r_lever_r)
r_lever_r.SetCollisionModel(col_r_lever_r)
grasper_r = vtkesqui.vtkToolGrasper()
grasper_r.SetStick(stick_r)
grasper_r.SetLeftLever(l_lever_r)
grasper_r.SetRightLever(r_lever_r)
# Add an Organ
# Visualization model
vis_ball = vtkesqui.vtkVisualizationModel()
vis_ball.SetName("vis_ball")
vis_ball.SetFileName(fn4)
vis_ball.SetTextureFileName(fn4t)
vis_ball.SetOpacity(1.0)
# Collision model
col_ball = vtkesqui.vtkCollisionModel()
col_ball.SetName("col_ball_vtkbioeng")
col_ball.SetFileName(fn4c)
col_ball.SetOpacity(0.0)
# Deformation model
def_ball = vtkesqui.vtkParticleSpringSystemInterface()
def_ball.SetName("def_ball_particle")
def_ball.SetFileName(fn4d)
def_ball.SetOpacity(0.0)
def_ball.SetSpring(150)
def_ball.SetDistance(1.0)
def_ball.SetDamping(3)
def_ball.SetMass(.1)
def_ball.SetTimeStep(0.001)
# Organ element (ball)
e_ball = vtkesqui.vtkScenarioElement()
e_ball.SetName("ball")
e_ball.SetPosition(0.0, 0.0, -2.0)
e_ball.SetOrientation(0, 0, 0)
e_ball.SetVisualizationModel(vis_ball)
e_ball.SetCollisionModel(col_ball)
e_ball.SetDeformationModel(def_ball)
ball = vtkesqui.vtkOrgan()
ball.AddElement(e_ball)
# Add an Organ (Cavity)
# Visualization model
vis_cavity = vtkesqui.vtkVisualizationModel()
vis_cavity.SetName("vis_cavity")
vis_cavity.SetFileName(fn5)
vis_cavity.SetTextureFileName(fn5t)
vis_cavity.SetOpacity(1.0)
# Collision model
col_cavity = vtkesqui.vtkCollisionModel()
col_cavity.SetName("col_cavity_vtkbioeng")
col_cavity.SetFileName(fn5c)
col_cavity.SetOpacity(0.0)
# Deformation model
def_cavity = vtkesqui.vtkParticleSpringSystemInterface()
def_cavity.SetName("def_cavity_particle")
def_cavity.SetFileName(fn5d)
def_cavity.SetOpacity(0.0)
def_cavity.SetSpring(150)
def_cavity.SetDistance(1.0)
def_cavity.SetDamping(3)
def_cavity.SetMass(.1)
def_cavity.SetTimeStep(0.001)
# Organ element (cavity)
e_cavity = vtkesqui.vtkScenarioElement()
e_cavity.SetName("cavity")
e_cavity.SetPosition(0.0, 0.0, -2.0)
e_cavity.SetOrientation(-30, 0, 0)
e_cavity.SetVisualizationModel(vis_cavity)
e_cavity.SetCollisionModel(col_cavity)
e_cavity.SetDeformationModel(def_cavity)
cavity = vtkesqui.vtkOrgan()
cavity.AddElement(e_cavity)
scenario = vtkesqui.vtkScenario()
scenario.SetName("vtkESQui - Laparoscopy")
scenario.AddObject(probe_l)
scenario.AddObject(grasper_r)
scenario.AddObject(ball)
scenario.AddObject(cavity)
# Scenario camera
camera = vtk.vtkCamera()
camera.SetPosition(0, 0, 6)
camera.SetFocalPoint(0, 0, -6)
camera.Yaw(0)
camera.Elevation(20)
camera.Pitch(-15)
camera.ParallelProjectionOff()
camera.SetViewAngle(70)
camera.Dolly(1.2)
scenario.SetCamera(camera)
#/********** Lights **********/
headLight = vtk.vtkLight()
headLight.SetLightTypeToHeadlight()
headLight.PositionalOn()
headLight.SetIntensity(0.8)
headLight.SetConeAngle(60)
scenario.AddLight(headLight)
ambientLight = vtk.vtkLight()
ambientLight.SetLightTypeToSceneLight()
ambientLight.PositionalOff()
ambientLight.SetPosition(0, 1, 1)
ambientLight.SetIntensity(0.5)
scenario.AddLight(ambientLight)
style = vtkesqui.vtkDefaultInteractorStyle()
style.SetScenario(scenario)
simulation = vtkesqui.vtkSimulation()
simulation.SetScenario(scenario)
simulation.SetInteractorStyle(style)
simulation.SetRenderTimerRate(50)
simulation.SetSimulationTimerRate(50)
simulation.SetInteractionTimerRate(50)
simulation.InteractionOn()
simulation.CollisionOn()
simulation.Initialize()
simulation.Run()