def setup(self,
useCompliant=1,
compliance=1E-6,
showOffset=False,
showOffsetScale=0.1):
# Variable
_isLimited = False
_compliance = 0 if useCompliant else compliance
# Needs to be fixed and used late
boneA_offset = self.boneA.body.addAbsoluteOffset(
self.boneA.name + '_offset_joint_' + self.name, self.frame)
boneB_offset = self.boneB.body.addAbsoluteOffset(
self.boneB.name + '_offset_joint_' + self.name, self.frame)
# joint creation between the offsets
self.joint = StructuralAPI.GenericRigidJoint(self.name,
boneA_offset.node,
boneB_offset.node,
self.mask, _compliance)
# add of the limits
for l in self.limits:
if l != 0:
_isLimited = True
if _isLimited:
self.joint.addLimits(self.limits, _compliance)
# visualization of offset: check that all frames are well placed
boneA_offset.dofs.showObject = showOffset
boneB_offset.dofs.showObject = showOffset
boneA_offset.dofs.showObjectScale = showOffsetScale
boneB_offset.dofs.showObjectScale = showOffsetScale
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
