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[scenes] Fix python scenes (#126)
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@epernod
epernod authored Jan 15, 2024
1 parent 88ec684 commit 2026a2e
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Showing 4 changed files with 55 additions and 32 deletions.
17 changes: 12 additions & 5 deletions examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
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Expand Up @@ -8,17 +8,18 @@
def createScene(rootNode):
rootNode.addObject('RequiredPlugin',name='BeamAdapter', pluginName='BeamAdapter ')
rootNode.addObject('RequiredPlugin',name='SofaPython3', pluginName='SofaPython3')
rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Topology.Mapping Sofa.Component.Visual Sofa.GL.Component.Rendering3D')
rootNode.addObject('RequiredPlugin',name='SOFA Modules', pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Container.Grid Sofa.Component.Mapping.Linear Sofa.Component.Topology.Mapping Sofa.Component.StateContainer Sofa.Component.Visual Sofa.GL.Component.Rendering3D')
rootNode.findData('dt').value=0.01
rootNode.findData('gravity').value=[0,0,0]
rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showInteractionForceFields hideWireframe')

rootNode.addObject('DefaultVisualManagerLoop')
rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('GenericConstraintSolver', tolerance="1e-3", maxIterations="5000", unbuilt="false")
rootNode.addObject('DefaultPipeline', depth="6", verbose="0", draw="1")
rootNode.addObject('CollisionPipeline', depth="6", verbose="0", draw="1")
rootNode.addObject('BruteForceBroadPhase', name='N2')
rootNode.addObject('BVHNarrowPhase')
rootNode.addObject('DefaultContactManager', response="FrictionContactConstraint", responseParams="mu=0.65")
rootNode.addObject('CollisionResponse', response="FrictionContactConstraint", responseParams="mu=0.65")
rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.6", contactDistance="0.44", angleCone="0.01")


Expand All @@ -32,8 +33,14 @@ def createScene(rootNode):
visuCochleaNode = cochleaNode.addChild('visuCochleaNode')
visuCochleaNode.addObject('OglModel', name="VisualModel", color="3.0 0.5 0.0 0.9")


topoLines_cath = rootNode.addChild('topoLines_cath')
topoLines_cath.addObject('WireRestShape', template="Rigid3d", printLog=False, name="catheterRestShape", length="20", straightLength="20", spireDiameter="0", spireHeight="0.0", densityOfBeams="40", numEdges="20", numEdgesCollis="20", youngModulus="2.5e5", youngModulusExtremity="2.5e5", radius="@../Proximity.contactDistance")
topoLines_cath.addObject('RodStraightSection', name='StraightSection',
length=20.0, radius="@../Proximity.contactDistance",
nbEdgesCollis=20, nbEdgesVisu=20,
youngModulus=2.5e5, massDensity=0.000005, poissonRatio=0.3)

topoLines_cath.addObject('WireRestShape', name='catheterRestShape', template="Rigid3d", wireMaterials="@StraightSection")
topoLines_cath.addObject('EdgeSetTopologyContainer', name="meshLinesCath")
topoLines_cath.addObject('EdgeSetTopologyModifier', name="Modifier")
topoLines_cath.addObject('EdgeSetGeometryAlgorithms', name="GeomAlgo", template="Rigid3d")
Expand All @@ -52,7 +59,7 @@ def createScene(rootNode):
InstrumentCombined.addObject('WireBeamInterpolation', name="InterpolCatheter", WireRestShape="@../topoLines_cath/catheterRestShape", radius="3.0", printLog=False)
InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', name="CatheterForceField", massDensity="0.000005", interpolation="@InterpolCatheter", printLog=False)
InstrumentCombined.addObject('LinearSolverConstraintCorrection', printLog=False, wire_optimization="true")
InstrumentCombined.addObject("FixedConstraint", indices="0")
InstrumentCombined.addObject("FixedProjectiveConstraint", indices="0")
InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF", points="@m_ircontroller.indexFirstNode", stiffness="1e10", recompute_indices="1", angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos", external_points="0", drawSpring="1", springColor="1 0 0 1")

CollisInstrumentCombined = InstrumentCombined.addChild('CollisInstrumentCombined')
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11 changes: 5 additions & 6 deletions examples/python3/SingleBeam.py
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Expand Up @@ -4,19 +4,18 @@
def createScene(rootNode):

# rootNode
rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter SofaBoundaryCondition SofaGeneralLinearSolver SofaConstraint SofaImplicitOdeSolver')
rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual')
rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields')
rootNode.addObject('DefaultAnimationLoop')
rootNode.addObject('DefaultVisualManagerLoop')

# rootNode/BeamModel
BeamModel = rootNode.addChild('BeamModel')
BeamModel = BeamModel
BeamModel = rootNode.addChild('BeamModel', bbox="-3 -6 -3 3 3 3")
BeamModel.addObject('EulerImplicitSolver', rayleighStiffness='0', rayleighMass='0', printLog='false')
BeamModel.addObject('BTDLinearSolver', verbose='0')
BeamModel.addObject('MechanicalObject', template='Rigid3d', name='DOFs', position='0 0 0 0 0 0 1 2 0 0 0 0 0 1 4 0 0 0 0 0 1 6 0 0 0 0 0 1')
BeamModel.addObject('MeshTopology', name='lines', lines='0 1 1 2 2 3')
BeamModel.addObject('FixedConstraint', name='FixedConstraint', indices='0')
BeamModel.addObject('RegularGridTopology', name='MeshLines', n=[200, 1, 1], min=[0, 0, 0], max=[100, 0, 0])
BeamModel.addObject('MechanicalObject', template='Rigid3d', name='DOFs', position='@MeshLines.positions')
BeamModel.addObject('FixedProjectiveConstraint', name='FixedConstraint', indices='0')
BeamModel.addObject('BeamInterpolation', name='BeamInterpolation', radius='0.1')
BeamModel.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', computeMass='1', massDensity='10')

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28 changes: 18 additions & 10 deletions examples/python3/SingleBeamDeployment.py
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Original file line number Diff line number Diff line change
Expand Up @@ -3,29 +3,37 @@

def createScene(rootNode):

rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter SofaBoundaryCondition SofaConstraint SofaDeformable SofaGeneralLinearSolver SofaImplicitOdeSolver')
rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings showForceFields')

rootNode.addObject('DefaultAnimationLoop')
rootNode.addObject('DefaultVisualManagerLoop')

topoLines = rootNode.addChild('EdgeTopology')
topoLines.addObject('WireRestShape', name='BeamRestShape',
straightLength=980.0, length=1000.0,
numEdges=200, youngModulus=20000,
spireDiameter=25, numEdgesCollis=[50,10],
printLog=True, template='Rigid3d', spireHeight=0.0,
densityOfBeams=[30,5], youngModulusExtremity=20000)
topoLines.addObject('RodStraightSection', name='StraightSection',
length=980.0, radius=1,
nbEdgesCollis=30, nbEdgesVisu=196,
youngModulus=20000)

topoLines.addObject('RodSpireSection', name='SpireSection',
length=20.0, radius=1,
nbEdgesCollis=5, nbEdgesVisu=4,
spireDiameter=25, spireHeight=0,
youngModulus=20000)
topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
wireMaterials="@StraightSection @SpireSection")

topoLines.addObject('EdgeSetTopologyContainer', name='meshLinesBeam')
topoLines.addObject('EdgeSetTopologyModifier', name='Modifier')
topoLines.addObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid3d')
topoLines.addObject('MechanicalObject', name='dofTopo2', template='Rigid3d')


BeamMechanics = rootNode.addChild('BeamModel')

BeamMechanics = rootNode.addChild('BeamModel', bbox="0 0 0 10 10 10")
BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1)
BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True
BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True,
nx=60, ny=1, nz=1,
xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
p0=[0,0,0])
Expand All @@ -37,7 +45,7 @@ def createScene(rootNode):
startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
rotationInstrument=[0, 0, 0], step=0.5, speed=0.5,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('FixedConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('RestShapeSpringsForceField', name="RestSPForceField", points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)


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31 changes: 20 additions & 11 deletions examples/python3/SingleBeamDeploymentCollision.py
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Expand Up @@ -3,32 +3,41 @@

def createScene(rootNode):

rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter SofaMeshCollision SofaBoundaryCondition SofaConstraint SofaMiscCollision SofaDeformable SofaGeneralLinearSolver SofaImplicitOdeSolver')
rootNode.addObject('RequiredPlugin', name="plug1", pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
rootNode.addObject('RequiredPlugin', name="plug2", pluginName='Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.IO.Mesh')
rootNode.addObject('VisualStyle', displayFlags='hideVisualModels hideBehaviorModels showCollisionModels hideMappings showInteractionForceFields')

rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('DefaultVisualManagerLoop')

rootNode.addObject('LCPConstraintSolver', mu='0.1', tolerance='1e-10', maxIt='1000', build_lcp='false')
rootNode.addObject('DefaultPipeline', draw='0', depth='6', verbose='1')
rootNode.addObject('CollisionPipeline', draw='0', depth='6', verbose='1')
rootNode.addObject('BruteForceBroadPhase', name='N2')
rootNode.addObject('BVHNarrowPhase')
rootNode.addObject('LocalMinDistance', contactDistance='1', alarmDistance='5', name='localmindistance', angleCone='0.02')
rootNode.addObject('DefaultContactManager', name='Response', response='FrictionContactConstraint')
rootNode.addObject('LocalMinDistance', contactDistance='0.1', alarmDistance='2', name='localmindistance', angleCone='0.2')
rootNode.addObject('CollisionResponse', name='Response', response='FrictionContactConstraint')

topoLines = rootNode.addChild('EdgeTopology')
topoLines.addObject('WireRestShape', name='BeamRestShape',
straightLength=980.0, length=1000.0,
numEdges=200, youngModulus=20000,
spireDiameter=25, numEdgesCollis=[50,10],
printLog=True, template='Rigid3d', spireHeight=0.0,
densityOfBeams=[30,5], youngModulusExtremity=20000)
topoLines.addObject('RodStraightSection', name='StraightSection',
length=980.0, radius=1,
nbEdgesCollis=50, nbEdgesVisu=200,
youngModulus=20000, massDensity=0.1, poissonRatio=0.3)

topoLines.addObject('RodSpireSection', name='SpireSection',
length=20.0, radius=1,
nbEdgesCollis=10, nbEdgesVisu=200,
spireDiameter=25, spireHeight=0,
youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
wireMaterials="@StraightSection @SpireSection")

topoLines.addObject('EdgeSetTopologyContainer', name='meshLines')
topoLines.addObject('EdgeSetTopologyModifier', name='Modifier')
topoLines.addObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid3d')
topoLines.addObject('MechanicalObject', name='dofTopo2', template='Rigid3d')



BeamMechanics = rootNode.addChild('BeamModel')
BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, rayleighMass=0.1)
BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
Expand All @@ -45,7 +54,7 @@ def createScene(rootNode):
rotationInstrument=[0, 0, 0], step=5., speed=5.,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
BeamMechanics.addObject('FixedConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('RestShapeSpringsForceField', points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)


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