def measureAnimationTime(node, timerName, timerInterval, timerOutputType,
resultFileName, simulationDeltaTime, iterations):
# timer
Sofa.timerSetInterval(
timerName,
timerInterval) # Set the number of steps neded to compute the timer
Sofa.timerSetEnabled(timerName, True)
resultFileName = resultFileName + ".log"
rootNode = node.getRoot()
with open(resultFileName, "w+") as outputFile:
outputFile.write("{")
i = 0
Sofa.timerSetOutPutType(timerName, timerOutputType)
while i < iterations:
Sofa.timerBegin(timerName)
rootNode.simulationStep(simulationDeltaTime)
result = Sofa.timerEnd(timerName, rootNode)
if result != None:
outputFile.write(result + ",")
oldResult = result
i = i + 1
last_pose = outputFile.tell()
outputFile.seek(last_pose - 1)
outputFile.write("\n}")
outputFile.seek(7)
firstStep = outputFile.read(1)
outputFile.close()
Sofa.timerSetEnabled(timerName, 0)
print "[Scene info]: end of simulation."
return 0
def createTimeProfiler(self):
print 'Time statistics file: ' + self.estFolder + '/' + self.opt['time']['time_statistics_file']
Sofa.timerSetInterval(self.opt['time']['timer_name'], self.opt['time']['iterations_interval']) ### Set the number of steps neded to compute the timer
Sofa.timerSetOutputType(self.opt['time']['timer_name'], 'json') ### Set output file format
with open(self.estFolder + '/' + self.opt['time']['time_statistics_file'], "a") as outputFile:
outputFile.write('{')
outputFile.close()
return 0
def createGraph(self, node):
self.rootNode = node.getRoot()
# Creation of stuff needed for collision management
node.createObject('DefaultAnimationLoop')
node.createObject('CollisionPipeline', depth='6', verbose='0', draw='0')
node.createObject('BruteForceDetection')
node.createObject('CollisionResponse', response='default')
node.createObject('DiscreteIntersection')
node.createObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showVisual" )
# Creation of the 'poutreRegGrid' node
poutreRegGridNode = node.createChild('poutreRegGrid')
# Add solver
poutreRegGridNode.createObject('EulerImplicit', name='cg_solver', printLog='false')
poutreRegGridNode.createObject('CGLinearSolver', iterations='25', name='linearSolver', tolerance='1.0e-9', threshold='1.0e-9')
# Creation of the regular grid
poutreRegGridNode.createObject('MechanicalObject', name='mecaObj')
poutreRegGridNode.createObject('RegularGrid', name='regGrid', nx='3', ny='5', nz='10', min='2.495 -0.005 -0.005', max='2.535 0.065 0.205')
# Set a topology for boxROI
poutreRegGridNode.createObject('HexahedronSetTopologyContainer', src='@regGrid', name='Container')
poutreRegGridNode.createObject('HexahedronSetTopologyModifier', name='Modifier')
poutreRegGridNode.createObject('HexahedronSetTopologyAlgorithms', template='Vec3d', name='TopoAlgo')
poutreRegGridNode.createObject('HexahedronSetGeometryAlgorithms', template='Vec3d', name='GeomAlgo')
# Physic manager
poutreRegGridNode.createObject('HexahedronFEMForceField', name='HFEM', youngModulus='1000', poissonRatio='0.2')
# BoxConstraint for fixed constraint (on the left)
poutreRegGridNode.createObject('BoxROI', name="FixedROI", box="2.495 -0.005 -0.005 2.535 0.065 0.0205", position='@mecaObj.rest_position')
poutreRegGridNode.createObject('FixedConstraint', template='Vec3d', name='default6', indices='@FixedROI.indices')
# BoxROI for constant constraint (on the right)
poutreRegGridNode.createObject('BoxROI', template='Vec3d', box='2.495 -0.005 0.18 2.535 0.065 0.205', name='box_roi2', position='@mecaObj.rest_position')
poutreRegGridNode.createObject('ConstantForceField', indices="@box_roi2.indices", force='0 -0.1 0', arrowSizeCoef='0.01')
# Visual node
VisualNode = poutreRegGridNode.createChild('Visu')
VisualNode.createObject('OglModel', name='poutreRegGridVisual', fileMesh='../mesh/poutre_surface.obj', color='red', dx='2.5')
VisualNode.createObject('BarycentricMapping', input='@..', output='@poutreRegGridVisual')
VisualNode.createObject('STLExporter', position="@poutreRegGridVisual.position", filename="../ModelsTimer/SOFA/poutre_grid_sofa_model", exportEveryNumberOfSteps='1', exportAtEnd="1", triangle="@poutreRegGridVisual.triangles", listening="1")
# timer
Sofa.timerSetInterval("timer_poutre_grid_sofa", 2) # Set the number of steps neded to compute the timer
Sofa.timerSetEnabled("timer_poutre_grid_sofa", True)
def createGraph(self, node):
# Creation of the 'poutre' node
self.rootNode = node.getRoot()
poutreNode = node.createChild('poutre')
# Add solver
poutreNode.createObject('EulerImplicit', name='cg_solver', printLog='false')
poutreNode.createObject('CGLinearSolver', iterations='25', name='linearSolver', tolerance='1.0e-9', threshold='1.0e-9')
# Mesh loader with physical properties
poutreNode.createObject('MeshVTKLoader', name='loader', filename='../mesh/poutre2.vtk')
poutreNode.createObject('Mesh', src='@loader')
poutreNode.createObject('MechanicalObject', name='mecaObj', src='@loader', dx='2.5')
# Physic manager
# Set a topology for boxROI
# poutreNode.createObject('VolumeTopologyContainer', src='@loader', name='Container')
# poutreNode.createObject('VolumeTopologyModifier', name='Modifier')
# poutreNode.createObject('VolumeGeometryAlgorithms', name='GeomAlgo')
poutreNode.createObject('TetrahedronSetTopologyContainer', src='@loader', name='Container')
poutreNode.createObject('TetrahedronSetTopologyModifier', name='Modifier')
poutreNode.createObject('TetrahedronSetTopologyAlgorithms', template='Vec3d', name='TopoAlgo')
poutreNode.createObject('TetrahedronSetGeometryAlgorithms', template='Vec3d', name='GeomAlgo')
poutreNode.createObject('CMTetrahedralCorotationalFEMForceField', name='CFEM', youngModulus='1000', poissonRatio='0.2', computeGlobalMatrix='false')
# BoxROI for fixed constraint (on the left)
poutreNode.createObject('BoxROI', template='Vec3d', box='2.495 -0.005 -0.005 2.535 0.065 0.0205', drawBoxes='1', position='@mecaObj.position', name='FixedROI', computeTriangles='0', computeTetrahedra='0', computeEdges='0', tetrahedra='@Container.tetrahedra')
poutreNode.createObject('FixedConstraint', template='Vec3d', name='default6', indices='@FixedROI.indices')
# BoxROI for constant constraint (on the right)
poutreNode.createObject('BoxROI', template='Vec3d', box='2.495 -0.005 0.18 2.535 0.065 0.205', drawBoxes='1', position='@mecaObj.rest_position', name='constForceFieldROI', computeTriangles='0', computeTetrahedra='0', computeEdges='0', tetrahedra='@Container.tetrahedra')
poutreNode.createObject('ConstantForceField', indices='@constForceFieldROI.indices', force='0 0 0.5', arrowSizeCoef='0.1')
# Visual node
VisualNode = poutreNode.createChild('Visu')
VisualNode.createObject('OglModel', name='poutreVisual', fileMesh='../mesh/poutre_surface.obj', color='red', dx='2.5')
VisualNode.createObject('BarycentricMapping', input='@..', output='@poutreVisual')
# timer
Sofa.timerSetInterval("timer_CMTetrahedralCorotationalFEMForceField", 2) # Set the number of steps neded to compute the timer
Sofa.timerSetEnabled("timer_CMTetrahedralCorotationalFEMForceField", True)
return 0
def createGraph(self, node):
self.rootNode = node.getRoot()
# Creation of stuff needed for collision management
node.createObject('CollisionPipeline',
depth='6',
verbose='0',
draw='0')
node.createObject('BruteForceDetection')
node.createObject('CollisionResponse', response='default')
node.createObject('DiscreteIntersection')
node.createObject(
'VisualStyle',
displayFlags="showBehaviorModels showForceFields showVisual")
# Creation of the 'poutreRegGrid' node
poutreRegGridNode = node.createChild('poutreRegGrid')
# Add solver
poutreRegGridNode.createObject('EulerImplicit',
name='cg_solver',
printLog='false')
poutreRegGridNode.createObject('CGLinearSolver',
iterations='25',
name='linearSolver',
tolerance='1.0e-9',
threshold='1.0e-9')
# Creation of the regular grid
poutreRegGridNode.createObject('MechanicalObject', name='mecaObj')
poutreRegGridNode.createObject('RegularGrid',
name='regGrid',
nx='3',
ny='5',
nz='10',
min='2.495 -0.005 -0.005',
max='2.535 0.065 0.205')
# Set a topology for boxROI
poutreRegGridNode.createObject('VolumeTopologyContainer',
src='@regGrid',
name='Container')
poutreRegGridNode.createObject('VolumeTopologyModifier',
name='Modifier')
poutreRegGridNode.createObject('VolumeGeometryAlgorithms',
name='GeomAlgo')
# Physic manager
poutreRegGridNode.createObject('CMHexahedronFEMForceField',
name='HFEM',
youngModulus='1000',
poissonRatio='0.2')
# BoxConstraint for fixed constraint (on the left)
poutreRegGridNode.createObject(
'BoxROI',
name="FixedROI",
box="2.495 -0.005 -0.005 2.535 0.065 0.0205",
position='@mecaObj.rest_position')
poutreRegGridNode.createObject('FixedConstraint',
template='Vec3d',
name='default6',
indices='@FixedROI.indices')
# BoxROI for constant constraint (on the right)
poutreRegGridNode.createObject(
'BoxROI',
template='Vec3d',
box='2.495 -0.005 0.18 2.535 0.065 0.205',
name='box_roi2',
position='@mecaObj.rest_position')
poutreRegGridNode.createObject('ConstantForceField',
indices="@box_roi2.indices",
force='0 0.1 0',
arrowSizeCoef='0.01')
# Visual node
VisualNode = poutreRegGridNode.createChild('Visu')
VisualNode.createObject('OglModel',
name='poutreRegGridVisual',
fileMesh='../mesh/poutre_surface.obj',
color='red',
dx='2.5')
VisualNode.createObject('BarycentricMapping',
input='@..',
output='@poutreRegGridVisual')
VisualNode.createObject(
'STLExporter',
position="@poutreRegGridVisual.position",
filename="../ModelsTimer/CGOGN/poutre_grid_CGOGN_model",
exportEveryNumberOfSteps='1',
exportAtEnd="1",
triangle="@poutreRegGridVisual.triangles",
listening="1")
# timer
Sofa.timerSetInterval(
"timer_poutre_grid_CGOGN",
2) # Set the number of steps neded to compute the timer
Sofa.timerSetEnabled("timer_poutre_grid_CGOGN", True)
def createGraph(self, node):
# Creation of the 'poutre' node
self.rootNode = node.getRoot()
poutreNode = node.createChild('poutre')
# Add solver
poutreNode.createObject('EulerImplicit',
name='cg_solver',
printLog='false')
poutreNode.createObject('CGLinearSolver',
iterations='25',
name='linearSolver',
tolerance='1.0e-9',
threshold='1.0e-9')
# Mesh loader with physical properties
poutreNode.createObject('MeshVTKLoader',
name='loader',
filename='../mesh/poutre2.vtk')
poutreNode.createObject('Mesh', src='@loader')
poutreNode.createObject('MechanicalObject',
name='mecaObj',
src='@loader',
dx='2.5')
# Physic manager
# Set a topology for boxROI
# poutreNode.createObject('VolumeTopologyContainer', src='@loader', name='Container')
# poutreNode.createObject('VolumeTopologyModifier', name='Modifier')
# poutreNode.createObject('VolumeGeometryAlgorithms', name='GeomAlgo')
poutreNode.createObject('TetrahedronSetTopologyContainer',
src='@loader',
name='Container')
poutreNode.createObject('TetrahedronSetTopologyModifier',
name='Modifier')
poutreNode.createObject('TetrahedronSetTopologyAlgorithms',
template='Vec3d',
name='TopoAlgo')
poutreNode.createObject('TetrahedronSetGeometryAlgorithms',
template='Vec3d',
name='GeomAlgo')
poutreNode.createObject('CMTetrahedralCorotationalFEMForceField',
name='CFEM',
youngModulus='1000',
poissonRatio='0.2',
computeGlobalMatrix='false')
# BoxROI for fixed constraint (on the left)
poutreNode.createObject('BoxROI',
template='Vec3d',
box='2.495 -0.005 -0.005 2.535 0.065 0.0205',
drawBoxes='1',
position='@mecaObj.position',
name='FixedROI',
computeTriangles='0',
computeTetrahedra='0',
computeEdges='0',
tetrahedra='@Container.tetrahedra')
poutreNode.createObject('FixedConstraint',
template='Vec3d',
name='default6',
indices='@FixedROI.indices')
# BoxROI for constant constraint (on the right)
poutreNode.createObject('BoxROI',
template='Vec3d',
box='2.495 -0.005 0.18 2.535 0.065 0.205',
drawBoxes='1',
position='@mecaObj.rest_position',
name='constForceFieldROI',
computeTriangles='0',
computeTetrahedra='0',
computeEdges='0',
tetrahedra='@Container.tetrahedra')
poutreNode.createObject('ConstantForceField',
indices='@constForceFieldROI.indices',
force='0 0 0.5',
arrowSizeCoef='0.1')
# Visual node
VisualNode = poutreNode.createChild('Visu')
VisualNode.createObject('OglModel',
name='poutreVisual',
fileMesh='../mesh/poutre_surface.obj',
color='red',
dx='2.5')
VisualNode.createObject('BarycentricMapping',
input='@..',
output='@poutreVisual')
# timer
Sofa.timerSetInterval(
"timer_CMTetrahedralCorotationalFEMForceField",
2) # Set the number of steps neded to compute the timer
Sofa.timerSetEnabled("timer_CMTetrahedralCorotationalFEMForceField",
True)
return 0
