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Refactor PCS_Example3.py: Remove unused code, fix variable names, and rename file #147

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merged 7 commits into from
Dec 4, 2024
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Refactor PCS_Example3.py: Remove unused code, fix variable names, and rename file #147

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37b54a7
update python prefabs
adagolodjo Aug 30, 2024
e469781
Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat
adagolodjo Sep 10, 2024
ca025cd
Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat
adagolodjo Oct 3, 2024
ef893b2
Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat
adagolodjo Nov 29, 2024
78e8133
Merge branch 'master' of github.com:SofaDefrost/plugin.Cosserat
adagolodjo Dec 3, 2024
ecbd8b0
Refactor PCS_Example3.py: Remove unused code, fix variable names, and…
adagolodjo Dec 3, 2024
fe0b069
Refactor PCS_Example3.py: Remove unused code, fix variable names, and…
adagolodjo Dec 3, 2024
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15 changes: 6 additions & 9 deletions examples/python3/wip/PCS_Example3.py → examples/python3/PCS_Example3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,15 +11,13 @@

import Sofa
from cosserat.cosseratObject import Cosserat
# from cosserat.nonLinearCosserat import NonLinearCosserat as nonCosserat
from cosserat.usefulFunctions import buildEdges, pluginList, BuildCosseratGeometry
from math import sqrt

# @todo ================ Unit: N, m, Kg, Pa ================
from splib3.numerics import Quat

LegendrePolyOrder = 5
# initialStrain = [[0., 0., 0], [0., 0., 0], [0., 0., 0]]
initialStrain = [[0., 0., 0], [0., 0., 0],
[0., 0., 0], [0., 0., 0], [0., 0., 0]]
YM = 4.015e8
Expand Down Expand Up @@ -52,11 +50,10 @@ def onAnimateEndEvent(self, event):
orientation = Quat(
position[3], position[4], position[5], position[6])
# 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]

def onKeypressedEvent(self, event):
key = event['key']
Expand All @@ -72,7 +69,7 @@ def createScene(rootNode):
rootNode.addObject('RequiredPlugin', name='plugins', pluginName=[pluginList])
rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels hideCollisionModels '
'hideBoundingCollisionModels hideForceFields '
'hideInteractionForceFields hideWireframe')
'hideInteractionForceFields hideWireframe showMechanicalMappings')
rootNode.dt.value = 0.02
rootNode.gravity.value = [0., 0., 0.]
rootNode.addObject('BackgroundSetting', color='0 0.168627 0.211765')
Expand All @@ -91,12 +88,12 @@ def createScene(rootNode):
Cosserat(parent=solverNode, cosseratGeometry=nonLinearConfig, useCollisionModel=needCollisionModel,
inertialParams=inertialParams, name="cosserat", radius=Rb, youngModulus=YM))

beamFrame = nonLinearCosserat.cosseratFrame
beamFrame = PCS_Cosserat.cosseratFrame

constForce = beamFrame.addObject('ConstantForceField', name='constForce', showArrowSize=0.02,
indices=nonLinearConfig['nbFramesF'], force=F1)
indices=nonLinearConfig['nbFramesF'], forces=F1)

nonLinearCosserat = solverNode.addObject(
solverNode.addObject(
ForceController(parent=solverNode, cosseratFrames=beamFrame.FramesMO, forceNode=constForce))

# ----------------
Expand Down
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