def createScene(rootNode):
print ("Scene Phase :"+str(phase))
# Import Original scene
originalScene.createScene(rootNode)
dt = rootNode.dt
timeExe = nbIterations * dt
# Add Animation Manager to Scene
# (ie: python script controller to which we will pass our differents animations)
# more details at splib.animation.AnimationManager (https://stlib.readthedocs.io/en/latest/)
if isinstance(rootNode, Wrapper):
AnimationManager(rootNode.node)
else:
AnimationManager(rootNode)
# Now that we have the AnimationManager & a list of the nodes we want to animate
# we can add an animation to then according to the arguments in listObjToAnimate
u.addAnimation(rootNode,phase,timeExe,dt,listObjToAnimate)
# Now that all the animations are defined we need to record their results
# for that we take the parent node normally given as an argument in paramWrapper
path, param = paramWrapper
myParent = get(rootNode,path[1:])
# We need rest_position and because it is normally always the same we record it one time
# during the first phase with the argument writeX0 put to True
if phase == phaseToSave:
myParent.createObject('WriteState', filename="stateFile.state",period=listObjToAnimate[0].params["incrPeriod"]*dt,
writeX="1", writeX0="1", writeV="0")
else :
myParent.createObject('WriteState', filename="stateFile.state", period=listObjToAnimate[0].params["incrPeriod"]*dt,
writeX="1", writeX0="0", writeV="0")
# If you want to save also the velocity uncomment the what is below.
# Then after if you give to **ReduceModel** *saveVelocitySnapshots = True* as parameter
# all the different velocity saved will be added to one file as the stateFile
# myParent.createObject('WriteState', filename="stateFileVelocity.state",period=listObjToAnimate[0].params["incrPeriod"]*dt,
# writeX = "0", writeX0 = "0", writeV = "1")
def createScene(rootNode):
confignode = rootNode.addChild("Config")
confignode.addObject('RequiredPlugin', name="SofaPython3", printLog=False)
manager = AnimationManager(rootNode)
rootNode.addObject(manager)
sphere1 = Sphere(rootNode, "sphere1", [-20, 0, 0, 0, 0, 0, 1],
[1 / 10.0, 1 * 0.7 / 10.0, 0.9])
sphere2 = Sphere(rootNode, "sphere2", [-20, 1, 0, 0, 0, 0, 1],
[7 / 10.0, 7 * 0.7 / 10.0, 0.9])
addAnimation(myAnimate, {"target": sphere1}, 5, mode="pingpong")
addAnimation(myAnimate, {"target": sphere2},
5,
mode="pingpong",
realTimeClock=True)
return rootNode
def createScene(rootNode):
# This scene is an example scene that shows the different easing functions implemented in SofaPython3
confignode = rootNode.addChild("Config")
confignode.addObject('RequiredPlugin', name="SofaPython3", printLog=False)
manager = AnimationManager(rootNode)
spheres = []
for i in range(22):
sphere = Sphere(rootNode, "sphere" + str(i), [-20, i, 0, 0, 0, 0, 1],
[i / 10.0, i * 0.7 / 10.0, 0.9])
spheres.append(sphere)
addAnimation(myAnimate, {"target": sphere}, 10.0, mode="pingpong")
Sofa.Simulation.init(rootNode)
print(len(spheres))
return rootNode
def createScene(rootNode):
rootNode.createObject("RequiredPlugin", name="SoftRobots")
rootNode.createObject("RequiredPlugin", name="SoftRobots.Inverse")
rootNode.createObject("RequiredPlugin", name="SofaSparseSolver")
rootNode.createObject("RequiredPlugin", name="SofaPreconditioner")
rootNode.createObject("RequiredPlugin", name="SofaPython")
rootNode.createObject("RequiredPlugin", name="CosseratPlugin")
AnimationManager(rootNode)
rootNode.createObject(
"VisualStyle",
displayFlags=
'showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields showWireframe'
)
rootNode.gravity = [0., -9810., 0.]
rootNode.createObject("FreeMotionAnimationLoop")
# For direct resolution, i.e direct control of the cable displacement
# rootNode.createObject("GenericConstraintSolver", maxIterations=100, tolerance=1e-5)
# For inverse resolution, i.e control of effectors position
rootNode.createObject("QPInverseProblemSolver", epsilon=1e-1)
simulation = rootNode.createChild("Simulation")
simulation.createObject('EulerImplicitSolver',
name='odesolver',
firstOrder="0",
rayleighMass="0.1",
rayleighStiffness="0.1")
simulation.createObject('ShewchukPCGLinearSolver',
name='linearSolver',
iterations='500',
tolerance='1.0e-18',
preconditioners="precond")
simulation.createObject('SparseLDLSolver', name='precond')
simulation.createObject('GenericConstraintCorrection',
solverName="precond")
trunk = Trunk(simulation, inverseMode=True)
trunk.addVisualModel(color=[1., 1., 1., 0.8])
trunk.fixExtremity()
target = effectorTarget(rootNode)
trunk.addEffectors(target=target.dofs.getData("position").getLinkPath(),
position=[[0., 0., 195]])
def createScene(rootNode):
rootNode.createObject("RequiredPlugin", name="SoftRobots")
rootNode.createObject("RequiredPlugin", name="SoftRobots.Inverse")
rootNode.createObject("RequiredPlugin", name="SofaSparseSolver")
rootNode.createObject("RequiredPlugin", name="SofaPreconditioner")
rootNode.createObject("RequiredPlugin", name="SofaPython")
rootNode.createObject("RequiredPlugin", name="CosseratPlugin")
AnimationManager(rootNode)
#rootNode.createObject("VisualStyle", displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields showWireframe')
rootNode.createObject('VisualStyle', displayFlags='showVisualModels showInteractionForceFields ShowForceFields')
rootNode.gravity = "0 0 0"
rootNode.createObject("FreeMotionAnimationLoop")
#### For direct resolution, i.e direct control of the cable displacement
# rootNode.createObject('GenericConstraintSolver', tolerance="1e-20", maxIterations="500", printLog="0")
#### For inverse resolution, i.e control of effectors position
rootNode.createObject("QPInverseProblemSolver", printLog='0', epsilon=1e-1, maxIterations="500")
rootNode.createObject('BackgroundSetting', color='0 0.168627 0.211765')
# ###############
# New adds to use the sliding Actuator
###############
cableNode = rootNode.createChild('cableNode')
cableNode.createObject('EulerImplicitSolver', firstOrder="0",rayleighMass="0.1", rayleighStiffness="0.1")
cableNode.createObject('SparseLUSolver', name='solver')
#cableNode.createObject('SparseLDLSolver', name='solver')
cableNode.createObject('GenericConstraintCorrection')
#tabOfNode = []
Cable = CosseratCable(cableNode)
simulation = rootNode.createChild("Simulation")
simulation.createObject('EulerImplicitSolver', name='odesolver', firstOrder="0", rayleighMass="0.1", rayleighStiffness="0.1")
simulation.createObject('ShewchukPCGLinearSolver', name='linearSolver', iterations='500', tolerance='1.0e-18', preconditioners="precond")
simulation.createObject('SparseLDLSolver', name='precond')
simulation.createObject('GenericConstraintCorrection', solverName="precond")
trunk = Trunk(simulation, inverseMode=True)
trunk.addVisualModel(color=[1., 1., 1., 0.8])
trunk.fixExtremity()
mappedPointsNodeTab = Cable.mappedPointsNodeTab
cableDofMOTab = Cable.cableDofMOTab
outputViolationMOTab = Cable.outputViolationMOTab
framesMoTab = Cable.framesMoTab
for i in range(0,nbCables):
mappedPointsNode = mappedPointsNodeTab[i]
trunk.addConstraintPoints(cstPoints[i],i,mappedPointsNode)
#### Get link to different Mo for the multi map
constraintPointMo = trunk.constraintPointMoTab[i]
cableDofMO = cableDofMOTab[i]
outputViolationMO = outputViolationMOTab[i]
print(" ==================+++++> The Link is : ", framesMoTab[i])
mappedPointsNode.createObject('DifferenceMultiMapping', name="pointsMulti", input1=constraintPointMo, input2=cableDofMO, output=outputViolationMO, direction=framesMoTab[i]+".position")
target = effectorTarget(rootNode)
trunk.addEffectors(target=target.dofs.getData("position").getLinkPath(), position=[[0., 0., 195.]])
################################
# Animation (to move the dofs) #
################################
Animation(target)
def MainHeader(node,
gravity=[0.0, -9.8, 0.0],
dt=0.01,
plugins=[],
repositoryPaths=[],
doDebug=False):
'''
Args:
gravity (vec3f): define the gravity vector.
dt (float): define the timestep.
plugins (list str): list of plugins to load
repositoryPaths (list str): list of path to the specific data repository
Structure:
.. sourcecode:: qml
rootNode : {
gravity : gravity,
dt : dt,
VisualStyle,
RepositoryPath,
RequiredPlugin,
OglSceneFrame,
FreeMotionAnimationLoop,
GenericConstraintSolver,
DiscreteIntersection
}
'''
node.createObject('VisualStyle')
i = 0
for repository in repositoryPaths:
node.createObject('AddResourceRepository',
name="AddResourceRepository" + str(i),
path=repository)
i += 1
node.findData('gravity').value = gravity
node.findData('dt').value = dt
if not isinstance(plugins, list):
Sofa.msg_error(
"MainHeader",
"'plugins' expected to be a list, got " + str(type(plugins)))
return node
if "SofaMiscCollision" not in plugins:
plugins.append("SofaMiscCollision")
if "SofaPython" not in plugins:
plugins.append("SofaPython")
for name in plugins:
node.createObject('RequiredPlugin', name=name, printLog=False)
node.createObject('OglSceneFrame', style="Arrows", alignment="TopRight")
if doDebug:
from splib.debug import DebugManager
DebugManager(node)
AnimationManager(node)
return node
def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='SofaPython3')
rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter')
rootNode.dt = 0.01
rootNode.addObject(
'VisualStyle',
displayFlags=
'showVisualModels showBehaviorModels showCollisionModels hideMappings showForceFields showWireframe'
)
# rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter')
# rootNode.addObject('BackgroundSetting', color='0 0.568627 0.711765')
rootNode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")
# rootNode.addObject("LightManager")
# rootNode.addObject("SpotLight", position=source, direction=[1.0, 0.0, 0.0])
# rootNode.addObject("InteractiveCamera", name="camera", position=source, lookAt=target)
# rootNode.addObject("InteractiveCamera", name="camera")
# rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels showMappings hideForceFields')
rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('LCPConstraintSolver',
mu=0.1,
tolerance=3e-4,
maxIt=1000,
build_lcp=False)
rootNode.addObject('CollisionPipeline', draw=False, depth=6, verbose=False)
rootNode.addObject('BruteForceDetection', name='N2')
rootNode.addObject('LocalMinDistance',
contactDistance=0.1,
alarmDistance=0.3,
name='localmindistance',
angleCone=0.02)
rootNode.addObject('CollisionResponse',
name='Response',
response='FrictionContact')
# rootNode.addObject('CollisionGroup', name='Group')
manager = AnimationManager(rootNode)
# topoLines_guide = createGuide(rootNode, 'guide', straightLength=980.0, length=1000.0,
# youngModulus=20000, numEdges=200, spireDiameter=25,
# numEdgesCollis=[50,10], spireHeight=0.0, densityOfBeams=[30,5],
# youngModulusExtremity=1000)
topoLines_guide = rootNode.addChild('topoLines_guide')
wire = topoLines_guide.addObject('WireRestShape',
name='guideRestShape',
straightLength=980.0,
length=1000.0,
numEdges=200,
youngModulus=20000,
spireDiameter=25,
numEdgesCollis=[50, 10],
printLog=False,
template='Rigid3d',
spireHeight=0.0,
densityOfBeams=[30, 5],
youngModulusExtremity=1000)
topoLines_guide.addObject('MechanicalObject',
name='dofTopo2',
template='Rigid3d')
topoLines_guide.addObject('EdgeSetTopologyContainer',
name='meshLinesGuide')
topoLines_guide.addObject('EdgeSetTopologyModifier', name='Modifier')
topoLines_guide.addObject('EdgeSetTopologyAlgorithms',
name='TopoAlgo',
template='Vec3d')
topoLines_guide.addObject('EdgeSetGeometryAlgorithms',
name='GeomAlgo',
template='Rigid3d')
# instrumentsCombined = createInstrumentsCombined(rootNode)
InstrumentCombined = rootNode.addChild('InstrumentCombined')
InstrumentCombined.addObject('EulerImplicit',
rayleighStiffness=0.2,
printLog=False,
rayleighMass=0.1)
InstrumentCombined.addObject('BTDLinearSolver',
verification=False,
subpartSolve=False,
verbose=False)
InstrumentCombined.addObject('RegularGrid',
name='meshLinesCombined',
zmax=1,
zmin=1,
nx=60,
ny=1,
nz=1,
xmax=1.0,
xmin=0.0,
ymin=0,
ymax=0)
InstrumentCombined.addObject('MechanicalObject',
showIndices=False,
name='DOFs',
template='Rigid3d',
ry=-90)
InstrumentCombined.addObject(
'WireBeamInterpolation',
WireRestShape='@../topoLines_guide/guideRestShape',
radius=0.15,
printLog=False,
name='Interpolguide')
InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass',
massDensity=0.00000155,
name='guideForceField',
interpolation='@Interpolguide')
intrevention = InstrumentCombined.addObject(
'InterventionalRadiology',
xtip=0.0,
name='m_ircontroller',
instruments=['Interpolguide'],
step=0.5,
printLog=False,
listening=True,
template='Rigid3d',
startingPos=[0, 0, 0, 1, 0, 0, 0],
rotationInstrument=[0, 0, 0],
speed=0,
controlledInstrument=0)
InstrumentCombined.addObject('LinearSolverConstraintCorrection',
wire_optimization='true',
printLog=False)
InstrumentCombined.addObject('FixedConstraint',
indices=0,
name='FixedConstraint')
InstrumentCombined.addObject('RestShapeSpringsForceField',
points='@m_ircontroller.indexFirstNode',
angularStiffness=1e8,
stiffness=1e8)
return (rootNode)
InstrumentCombined.addObject(Animation(intrevention, 0, step, angularStep))
# Visualization Guide
VisuGuide = InstrumentCombined.addChild('VisuGuide')
VisuGuide.addObject('MechanicalObject', name='Quads')
VisuGuide.addObject('QuadSetTopologyContainer', name='ContainerGuide')
VisuGuide.addObject('QuadSetTopologyModifier', name='Modifier')
VisuGuide.addObject('QuadSetTopologyAlgorithms',
name='TopoAlgo',
template='Vec3d')
VisuGuide.addObject('QuadSetGeometryAlgorithms',
name='GeomAlgo',
template='Vec3d')
VisuGuide.addObject('Edge2QuadTopologicalMapping',
radius='1',
listening='true',
input='@../../topoLines_guide/meshLinesGuide',
nbPointsOnEachCircle='10',
flipNormals='true',
output='@ContainerGuide')
VisuGuide.addObject('AdaptiveBeamMapping',
interpolation='@../InterpolGuide',
name='visuMapGuide',
output='@Quads',
isMechanical=False,
input='@../DOFs',
useCurvAbs=True,
printLog=False)
# Ogl model
VisuOgl = VisuGuide.addChild('VisuOgl')
VisuOgl.addObject(
'OglModel',
color=[0.2, 0.2, 0.8],
quads='@../ContainerGuide.quads',
material=
'texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20',
name='Visual')
VisuOgl.addObject('IdentityMapping', input='@../Quads', output='@Visual')
return (rootNode)