def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision' + name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node,
filename=filepath,
name='loader',
scale3d=concat(scale3d),
translation=concat(
offset[:3]),
rotation=concat(r),
triangulate=True)
self.topology = self.node.createObject('MeshTopology',
name='topology',
src='@loader')
self.dofs = self.node.createObject('MechanicalObject',
name='dofs',
template='Vec3' +
template_suffix)
self.triangles = self.node.createObject('TriangleModel',
name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping',
template='Affine,Vec3' +
template_suffix,
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_collisionmapping.json")
self.normals = None
def __init__(self,
node,
filepath,
scale3d,
offset,
name_suffix='',
generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel
self.node = node.createChild('visual' + name_suffix) # node
self.model = self.node.createObject('VisualModel',
name='visual' +
str(idxVisualModel),
fileMesh=filepath,
scale3d=concat(scale3d),
translation=concat(offset[:3]),
rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject(
'LinearMapping',
template='Affine,ExtVec3f',
name='mapping')
else:
serialization.importLinearMapping(
self.node, generatedDir + "_visualmapping.json")
idxVisualModel += 1
def setManually(self, filepath=None, offset=[[0,0,0,0,0,0,1]], voxelSize=0.01, density=1000, generatedDir=None):
if len(offset) == 0:
Sofa.msg_error("RigidScale.API","ShearlessAffineBody should have at least 1 ShearLessAffine")
return
self.framecom = Frame.Frame()
self.bodyOffset = Frame.Frame([0,0,0,0,0,0,1])
path_affine_rigid = '@'+ Tools.node_path_rel(self.affineNode, self.rigidNode)
path_affine_scale = '@'+ Tools.node_path_rel(self.affineNode, self.scaleNode)
if len(offset) == 1: self.frame = [Frame.Frame(offset[0])]
str_position = ""
for p in offset:
str_position = str_position + concat(p) + " "
### scene creation
# rigid dof
self.rigidDofs = self.rigidNode.createObject('MechanicalObject', template='Rigid3'+template_suffix, name='dofs', position=str_position, rest_position=str_position)
# scale dofs
self.scaleDofs = self.scaleNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='dofs', position=concat([1,1,1]*len(offset)))
positiveNode = self.scaleNode.createChild('positive')
positiveNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='positivescaleDOFs')
positiveNode.createObject('DifferenceFromTargetMapping', template='Vec3'+template_suffix+',Vec3'+template_suffix, applyRestPosition=1, targets=concat(target_scale))
positiveNode.createObject('UniformCompliance', isCompliance=1, compliance=0)
positiveNode.createObject('UnilateralConstraint')
positiveNode.createObject('Stabilization', name='Stabilization')
# affine dofs
self.affineDofs = self.affineNode.createObject('MechanicalObject', template='Affine', name='parent', showObject=0)
self.affineNode.createObject('RigidScaleToAffineMultiMapping', template='Rigid,Vec3,Affine', input1=path_affine_rigid, input2=path_affine_scale, output='@.', autoInit='1', printLog='0')
if filepath:
self.image = SofaImage.API.Image(self.affineNode, name="image_" + self.name, imageType="ImageUC")
self.shapeFunction = Flexible.API.ShapeFunction(self.affineNode)
if generatedDir is None:
self.image.addMeshLoader(filepath, value=1, insideValue=1, scale=scale3d) # TODO support multiple meshes closingValue=1,
self.image.addMeshToImage(voxelSize)
self.shapeFunction.addVoronoi(self.image, position='@dofs.rest_position')
# mass
self.affineMassNode = self.affineNode.createChild('mass')
self.affineMassNode.createObject('TransferFunction', name='density', template='ImageUC,ImageD', inputImage='@../image.image', param='0 0 1 '+str(density))
self.affineMassNode.createObject('MechanicalObject', template='Vec3'+template_suffix)
self.affineMassNode.createObject('LinearMapping', template='Affine,Vec3'+template_suffix)
self.affineMassNode.createObject('MassFromDensity', name='MassFromDensity', template='Affine,ImageD', image='@density.outputImage', transform='@../image.transform', lumping='0')
self.mass = self.affineNode.createObject('AffineMass', massMatrix='@mass/MassFromDensity.massMatrix')
else:
self.image.addContainer(filename=self.node.name + "_rasterization.raw", directory=generatedDir)
self.shapeFunction.shapeFunction = serialization.importImageShapeFunction(self.affineNode, generatedDir+self.node.name+"_SF_indices.raw", generatedDir+self.node.name+"_SF_weights.raw", 'dofs')
self.mass = serialization.importAffineMass(self.affineNode, generatedDir+self.node.name+"_affinemass.json")
# computation of the object mass center
massInfo = SofaPython.mass.RigidMassInfo()
massInfo.setFromMesh(filepath, density, [1,1,1])
# get the object mass center
self.framecom.rotation = massInfo.inertia_rotation
self.framecom.translation = massInfo.com
else:
print "You need a mesh to create an articulated system"
self.frame = []
for o in offset:
self.frame.append(Frame.Frame(o))
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
global idxVisualModel;
self.node = node.createChild('visual'+name_suffix) # node
self.model = self.node.createObject('VisualModel', name='visual'+str(idxVisualModel), fileMesh=filepath, scale3d=concat(scale3d), translation=concat(offset[:3]), rotation=concat(r))
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,ExtVec3f', name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_visualmapping.json")
idxVisualModel+=1
def setFromMesh(self, filepath, density=1000, offset=[0,0,0,0,0,0,1], scale3d=[1,1,1], voxelSize=0.01, numberOfPoints=1, generatedDir=None):
# variables
self.bodyOffset = Frame.Frame(offset)
path_affine_rigid = '@' + Tools.node_path_rel(self.affineNode, self.rigidNode)
path_affine_scale = '@' + Tools.node_path_rel(self.affineNode, self.scaleNode)
massInfo = SofaPython.mass.RigidMassInfo()
massInfo.setFromMesh(filepath, density, scale3d)
self.image = SofaImage.API.Image(self.node, name="image_" + self.name, imageType="ImageUC")
self.image.node.addChild(self.affineNode) # for initialization
self.image.node.addChild(self.rigidNode) # for initialization
self.shapeFunction = Flexible.API.ShapeFunction(self.rigidNode)
if generatedDir is None:
self.image.addMeshLoader(filepath, value=1, insideValue=1, offset=offset, scale=scale3d) # TODO support multiple meshes closingValue=1,
self.image.addMeshToImage(voxelSize)
# rigid dofs
self.sampler = SofaImage.API.Sampler(self.rigidNode)
self.sampler.addImageSampler(self.image, numberOfPoints)
self.rigidDofs = self.sampler.addMechanicalObject('Rigid3'+template_suffix)
else:
self.image.addContainer(filename=self.node.name+"_rasterization.raw", directory=generatedDir)
self.rigidDofs = serialization.importRigidDofs(self.rigidNode, generatedDir+"/"+self.node.name+'_dofs.json')
# scale dofs
self.scaleDofs = self.scaleNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='dofs', position=concat([1,1,1]*numberOfPoints))
positiveNode = self.scaleNode.createChild('positive')
positiveNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='positivescaleDOFs')
positiveNode.createObject('DifferenceFromTargetMapping', template='Vec3d,Vec3'+template_suffix, applyRestPosition=1, targets=concat(target_scale))
positiveNode.createObject('UniformCompliance', isCompliance=1, compliance=0)
positiveNode.createObject('UnilateralConstraint')
positiveNode.createObject('Stabilization', name='Stabilization')
# affine dofs
self.affineDofs = self.affineNode.createObject('MechanicalObject', template='Affine', name='dofs')
self.affineNode.createObject('RigidScaleToAffineMultiMapping', template='Rigid,Vec3d,Affine', input1=path_affine_rigid, input2=path_affine_scale, output='@.', autoInit='1', printLog='0')
# shapefunction and mass
if generatedDir is None:
self.shapeFunction.addVoronoi(self.image, position='@dofs.rest_position')
# mass
densityImage = self.image.createTransferFunction(self.affineNode, "density", param='0 0 1 '+str(density))
affineMass = Flexible.API.AffineMass(self.affineNode)
affineMass.massFromDensityImage(self.affineNode, densityImage=densityImage)
self.mass = affineMass.mass
else:
self.shapeFunction.shapeFunction = serialization.importImageShapeFunction(self.affineNode, generatedDir+self.node.name+"_SF_indices.raw", generatedDir+self.node.name+"_SF_weights.raw", 'dofs')
self.mass = serialization.importAffineMass(self.affineNode, generatedDir+self.node.name+"_affinemass.json")
# hack to get the frame position
self.node.init()
for p in self.rigidDofs.position:
p.extend([0,0,0,1])
self.frame.append(Frame.Frame(p))
def __init__(self, node, filepath, scale3d, offset, name_suffix='', generatedDir=None):
r = Quaternion.to_euler(offset[3:]) * 180.0 / math.pi
self.node = node.createChild('collision'+name_suffix) # node
self.loader = SofaPython.Tools.meshLoader(self.node, filename=filepath, name='loader', scale3d=concat(scale3d), translation=concat(offset[:3]) , rotation=concat(r), triangulate=True)
self.topology = self.node.createObject('MeshTopology', name='topology', src='@loader')
self.dofs = self.node.createObject('MechanicalObject', name='dofs', template='Vec3'+template_suffix)
self.triangles = self.node.createObject('TriangleModel', name='model')
if generatedDir is None:
self.mapping = self.node.createObject('LinearMapping', template='Affine,Vec3'+template_suffix, name='mapping')
else:
serialization.importLinearMapping(self.node, generatedDir+"_collisionmapping.json")
self.normals = None
def setFromMesh(self, filepath, density=1000, offset=[0,0,0,0,0,0,1], scale3d=[1,1,1], voxelSize=0.01, numberOfPoints=1, generatedDir=None):
# variables
self.bodyOffset = Frame.Frame(offset)
path_affine_rigid = '@' + Tools.node_path_rel(self.affineNode, self.rigidNode)
path_affine_scale = '@' + Tools.node_path_rel(self.affineNode, self.scaleNode)
massInfo = SofaPython.mass.RigidMassInfo()
massInfo.setFromMesh(filepath, density, scale3d)
self.image = SofaImage.API.Image(self.node, name="image_" + self.name, imageType="ImageUC")
self.image.node.addChild(self.affineNode) # for initialization
self.image.node.addChild(self.rigidNode) # for initialization
self.shapeFunction = Flexible.API.ShapeFunction(self.rigidNode)
if generatedDir is None:
self.image.addMeshLoader(filepath, value=1, insideValue=1, offset=offset, scale=scale3d) # TODO support multiple meshes closingValue=1,
self.image.addMeshToImage(voxelSize)
# rigid dofs
self.sampler = SofaImage.API.Sampler(self.rigidNode)
self.sampler.addImageSampler(self.image, numberOfPoints)
self.rigidDofs = self.sampler.addMechanicalObject('Rigid3'+template_suffix)
else:
self.image.addContainer(filename=self.node.name+"_rasterization.raw", directory=generatedDir)
self.rigidDofs = serialization.importRigidDofs(self.rigidNode, generatedDir+"/"+self.node.name+'_dofs.json')
# scale dofs
self.scaleDofs = self.scaleNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='dofs', position=concat([1,1,1]*numberOfPoints))
positiveNode = self.scaleNode.createChild('positive')
positiveNode.createObject('MechanicalObject', template='Vec3'+template_suffix, name='positivescaleDOFs')
positiveNode.createObject('DifferenceFromTargetMapping', template='Vec3d,Vec3'+template_suffix, applyRestPosition=1, targets=concat(target_scale))
positiveNode.createObject('UniformCompliance', isCompliance=1, compliance=0)
positiveNode.createObject('UnilateralConstraint')
# affine dofs
self.affineDofs = self.affineNode.createObject('MechanicalObject', template='Affine', name='dofs')
self.affineNode.createObject('RigidScaleToAffineMultiMapping', template='Rigid,Vec3d,Affine', input1=path_affine_rigid, input2=path_affine_scale, output='@.', autoInit='1', printLog='0')
# shapefunction and mass
if generatedDir is None:
self.shapeFunction.addVoronoi(self.image, position='@dofs.rest_position')
# mass
densityImage = self.image.createTransferFunction(self.affineNode, "density", param='0 0 1 '+str(density))
affineMass = Flexible.API.AffineMass(self.affineNode)
affineMass.massFromDensityImage(self.affineNode, densityImage=densityImage)
self.mass = affineMass.mass
else:
self.shapeFunction.shapeFunction = serialization.importImageShapeFunction(self.affineNode, generatedDir+self.node.name+"_SF_indices.raw", generatedDir+self.node.name+"_SF_weights.raw", 'dofs')
self.mass = serialization.importAffineMass(self.affineNode, generatedDir+self.node.name+"_affinemass.json")
# hack to get the frame position
self.node.init()
for p in self.rigidDofs.position:
p.extend([0,0,0,1])
self.frame.append(Frame.Frame(p))
def exportMappings(self, path="./generated"):
if self.collision is not None:
serialization.exportLinearMapping(self.collision.mapping, path+"/"+self.node.name+'_collisionmapping.json')
if self.visual is not None:
serialization.exportLinearMapping(self.visual.mapping, path+"/"+self.node.name+'_visualmapping.json')
if self.behavior is not None:
serialization.exportLinearMapping(self.behavior.mapping, path+"/"+self.node.name+'_behaviormapping.json')
def exportMappings(self, path="./generated"):
if self.collision is not None:
serialization.exportLinearMapping(self.collision.mapping, path+"/"+self.node.name+'_collisionmapping.json')
if self.visual is not None:
serialization.exportLinearMapping(self.visual.mapping, path+"/"+self.node.name+'_visualmapping.json')
if self.behavior is not None:
serialization.exportLinearMapping(self.behavior.mapping, path+"/"+self.node.name+'_behaviormapping.json')
def exportGaussPoints(self, path="./generated"):
if self.behavior is not None:
serialization.exportGaussPoints(self.behavior.sampler, path+"/"+self.node.name+'_gauss.json')
def exportShapeFunction(self, path="./generated"):
serialization.exportImageShapeFunction(self.affineNode, self.shapeFunction.shapeFunction, path+"/"+self.node.name+"_SF_indices.raw", path+"/"+self.node.name+"_SF_weights.raw")
def exportRigidDofs(self, path="./generated"):
serialization.exportRigidDofs(
self.rigidDofs, path + "/" + self.node.name + '_dofs.json')
def exportGaussPoints(self, path="./generated"):
if self.behavior is not None:
serialization.exportGaussPoints(
self.behavior.sampler,
path + "/" + self.node.name + '_gauss.json')
def exportShapeFunction(self, path="./generated"):
serialization.exportImageShapeFunction(
self.affineNode, self.shapeFunction.shapeFunction,
path + "/" + self.node.name + "_SF_indices.raw",
path + "/" + self.node.name + "_SF_weights.raw")
def setManually(self,
filepath=None,
offset=[[0, 0, 0, 0, 0, 0, 1]],
voxelSize=0.01,
density=1000,
generatedDir=None):
if len(offset) == 0:
Sofa.msg_error(
"RigidScale.API",
"ShearlessAffineBody should have at least 1 ShearLessAffine")
return
self.framecom = Frame.Frame()
self.bodyOffset = Frame.Frame([0, 0, 0, 0, 0, 0, 1])
path_affine_rigid = '@' + Tools.node_path_rel(self.affineNode,
self.rigidNode)
path_affine_scale = '@' + Tools.node_path_rel(self.affineNode,
self.scaleNode)
if len(offset) == 1: self.frame = [Frame.Frame(offset[0])]
str_position = ""
for p in offset:
str_position = str_position + concat(p) + " "
### scene creation
# rigid dof
self.rigidDofs = self.rigidNode.createObject(
'MechanicalObject',
template='Rigid3' + template_suffix,
name='dofs',
position=str_position,
rest_position=str_position)
# scale dofs
self.scaleDofs = self.scaleNode.createObject(
'MechanicalObject',
template='Vec3' + template_suffix,
name='dofs',
position=concat([1, 1, 1] * len(offset)))
positiveNode = self.scaleNode.createChild('positive')
positiveNode.createObject('MechanicalObject',
template='Vec3' + template_suffix,
name='positivescaleDOFs')
positiveNode.createObject('DifferenceFromTargetMapping',
template='Vec3' + template_suffix + ',Vec3' +
template_suffix,
applyRestPosition=1,
targets=concat(target_scale))
positiveNode.createObject('UniformCompliance',
isCompliance=1,
compliance=0)
positiveNode.createObject('UnilateralConstraint')
positiveNode.createObject('Stabilization', name='Stabilization')
# affine dofs
self.affineDofs = self.affineNode.createObject('MechanicalObject',
template='Affine',
name='parent',
showObject=0)
self.affineNode.createObject('RigidScaleToAffineMultiMapping',
template='Rigid,Vec3,Affine',
input1=path_affine_rigid,
input2=path_affine_scale,
output='@.',
autoInit='1',
printLog='0')
if filepath:
self.image = SofaImage.API.Image(self.affineNode,
name="image_" + self.name,
imageType="ImageUC")
self.shapeFunction = Flexible.API.ShapeFunction(self.affineNode)
if generatedDir is None:
self.image.addMeshLoader(
filepath, value=1, insideValue=1
) # TODO support multiple meshes closingValue=1,
self.image.addMeshToImage(voxelSize)
self.shapeFunction.addVoronoi(self.image,
position='@dofs.rest_position')
# mass
self.affineMassNode = self.affineNode.createChild('mass')
self.affineMassNode.createObject('TransferFunction',
name='density',
template='ImageUC,ImageD',
inputImage='@../image.image',
param='0 0 1 ' + str(density))
self.affineMassNode.createObject('MechanicalObject',
template='Vec3' +
template_suffix)
self.affineMassNode.createObject('LinearMapping',
template='Affine,Vec3' +
template_suffix)
self.affineMassNode.createObject(
'MassFromDensity',
name='MassFromDensity',
template='Affine,ImageD',
image='@density.outputImage',
transform='@../image.transform',
lumping='0')
self.mass = self.affineNode.createObject(
'AffineMass',
massMatrix='@mass/MassFromDensity.massMatrix')
else:
self.image.addContainer(filename=self.node.name +
"_rasterization.raw",
directory=generatedDir)
self.shapeFunction.shapeFunction = serialization.importImageShapeFunction(
self.affineNode,
generatedDir + self.node.name + "_SF_indices.raw",
generatedDir + self.node.name + "_SF_weights.raw", 'dofs')
self.mass = serialization.importAffineMass(
self.affineNode,
generatedDir + self.node.name + "_affinemass.json")
# computation of the object mass center
massInfo = SofaPython.mass.RigidMassInfo()
massInfo.setFromMesh(filepath, density, [1, 1, 1])
# get the object mass center
self.framecom.rotation = massInfo.inertia_rotation
self.framecom.translation = massInfo.com
else:
print "You need a mesh to create an articulated system"
self.frame = []
for o in offset:
self.frame.append(Frame.Frame(o))
def exportAffineMass(self, path="./generated"):
serialization.exportAffineMass(self.mass, path+"/"+self.node.name+'_affinemass.json')
def exportRigidDofs(self, path="./generated"):
serialization.exportRigidDofs(self.rigidDofs, path+"/"+self.node.name+'_dofs.json')
def exportAffineMass(self, path="./generated"):
serialization.exportAffineMass(
self.mass, path + "/" + self.node.name + '_affinemass.json')