Fix PCS and PNLS scenes (#140)

SofaDefrost · Nov 29, 2024 · 3ac0327 · 3ac0327
1 parent b102dd9
commit 3ac0327
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Showing 4 changed files with 17 additions and 20 deletions.
diff --git a/examples/python3/PCS_Example2.py b/examples/python3/PCS_Example2.py
@@ -52,11 +52,11 @@ def __init__(self, *args, **kwargs):
             position = self.frames.position[self.size]  # get the last rigid of the cosserat frame
             orientation = Quat(position[3], position[4], position[5], position[6])  # get the orientation
             # Get the force direction in order to remain orthogonal to the last section of beam
-            with self.forceNode.force.writeable() as force:
+            with self.forceNode.forces.writeable() as force:
                 vec = orientation.rotate([0., self.forceCoeff, 0.])
                 # print(f' The new vec is : {vec}')
                 for count in range(3):
-                    force[count] = vec[count]
+                    force[0][count] = vec[count]
             if self.forceCoeff < 13.1e4:
                 self.forceCoeff += 100
             else:
@@ -88,15 +88,14 @@ def createScene(rootNode):
     solverNode.addObject('SparseLDLSolver', name='solver', template="CompressedRowSparseMatrixd")
 
     needCollisionModel = 0  # use this if the collision model if the beam will interact with another object
-    PCS_Cosserat = solverNode.addChild(
-        Cosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
-                 inertialParams=inertialParams, name="cosserat", radius=Rb, youngModulus=YM))
+    PCS_Cosserat = Cosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
+                 inertialParams=inertialParams, name="cosserat", radius=Rb, youngModulus=YM, showObject="1")
 
     beamFrame = PCS_Cosserat.cosseratFrame
 
     constForce = beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=0.0,
-                        indices=nonLinearConfig['nbFramesF'], force=F1)
+                        indices=nonLinearConfig['nbFramesF'], forces=F1)
 
-    solverNode.addObject(ForceController(parent=solverNode, cosseratFrames=beamFrame.FramesMO, forceNode=constForce))
+    solverNode.addObject(ForceController(parent=solverNode, name='forceController', cosseratFrames=beamFrame.FramesMO, forceNode=constForce))
 
     return rootNode
diff --git a/examples/python3/PNLS_Example1.py b/examples/python3/PNLS_Example1.py
@@ -52,10 +52,10 @@ def __init__(self, *args, **kwargs):
 
     def onAnimateEndEvent(self, event):
         if self.applyForce:
-            with self.forceNode.force.writeable() as force:
+            with self.forceNode.forces.writeable() as force:
                 vec = [0., 0., 0., 0., (self.forceCoeff * 1.) / sqrt(2), (self.forceCoeff * 1.) / sqrt(2)]
                 for i, v in enumerate(vec):
-                    force[i] = v
+                    force[0][i] = v
                 # print(f' The new force: {force}')
 
     def onKeypressedEvent(self, event):
@@ -85,18 +85,17 @@ def createScene(rootNode):
     solverNode.addObject('SparseLDLSolver', name='solver', template="CompressedRowSparseMatrixd")
 
     needCollisionModel = 0  # use this if the collision model if the beam will interact with another object
-    nonLinearCosserat = solverNode.addChild(
-        nonCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, inertialParams=inertialParams,
+    nonLinearCosserat = nonCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, inertialParams=inertialParams,
                     useCollisionModel=needCollisionModel, name="cosserat", radius=Rb, youngModulus=YM,
                     legendreControlPoints=initialStrain, poissonRatio=PR,order=LegendrePolyOrder,
                     rayleighStiffness=rayleighStiffness,
-                    activatedMMM=False))
+                    activatedMMM=False)
     cosseratNode = nonLinearCosserat.legendreControlPointsNode
 
     beamFrame = nonLinearCosserat.cosseratFrame
 
     constForce = beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=1.e-8,
-                        indices=nonLinearConfig['nbFramesF'], force=F1)
+                        indices=nonLinearConfig['nbFramesF'], forces=F1)
 
     nonLinearCosserat = solverNode.addObject(
         ForceController(parent=solverNode, cosseratFrames=beamFrame.FramesMO, forceNode=constForce))

diff --git a/examples/python3/PNLS_Example2.py b/examples/python3/PNLS_Example2.py
@@ -52,11 +52,11 @@ def onAnimateEndEvent(self, event):
             position = self.frames.position[self.size]  # get the last rigid of the cosserat frame
             orientation = Quat(position[3], position[4], position[5], position[6])  # get the orientation
             # Get the force direction in order to remain orthogonal to the last section of beam
-            with self.forceNode.force.writeable() as force:
+            with self.forceNode.forces.writeable() as force:
                 vec = orientation.rotate([0., self.forceCoeff, 0.])
                 # print(f' The new vec is : {vec}')
                 for count in range(3):
-                    force[count] = vec[count]
+                    force[0][count] = vec[count]
             if self.forceCoeff < 13.1e4:
                 self.forceCoeff += 100
             else:
@@ -87,17 +87,16 @@ def createScene(rootNode):
     solverNode.addObject('SparseLDLSolver', name='solver', template="CompressedRowSparseMatrixd")
 
     needCollisionModel = 0  # use this if the collision model if the beam will interact with another object
-    nonLinearCosserat = solverNode.addChild(
-        nonCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
+    nonLinearCosserat = nonCosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
                     name="cosserat", radius=Rb, youngModulus=YM, legendreControlPoints=initialStrain,
                     order=LegendrePolyOrder, inertialParams=inertialParams,
-                    activatedMMM=True))
+                    activatedMMM=True, showObject="1")
     cosseratNode = nonLinearCosserat.legendreControlPointsNode
 
     beamFrame = nonLinearCosserat.cosseratFrame
 
     constForce = beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=1.e-5,
-                                     indices=nonLinearConfig['nbFramesF'], force=F1)
+                                     indices=nonLinearConfig['nbFramesF'], forces=F1)
 
     nonLinearCosserat = solverNode.addObject(
         ForceController(parent=solverNode, cosseratFrames=beamFrame.FramesMO, forceNode=constForce))

diff --git a/examples/python3/PNLS_Example3.py b/examples/python3/PNLS_Example3.py
@@ -124,7 +124,7 @@ def createScene(rootNode):
     cosseratNode = nonLinearCosserat.legendreControlPointsNode
 
     constForce = beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=1.e-9,
-                        indices=nonLinearConfig['nbFramesF'], force=F1)
+                        indices=nonLinearConfig['nbFramesF'], forces=F1)
 
     nonLinearCosserat = solverNode.addObject(
         ForceController(parent=solverNode, cosseratFrames=beamFrame.FramesMO, controller=controlMo))