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Merge pull request #135 from SofaDefrost/addBouncingBallExample
Add bouncing ball example
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| import Sofa | ||
| import Sofa.Core | ||
| import os | ||
| pathSceneFile = os.path.dirname(os.path.abspath(__file__)) | ||
| pathMesh = os.path.dirname(os.path.abspath(__file__))+'/' | ||
| # Units: mm, kg, s. Pressure in kPa = k (kg/(m.s^2)) = k (g/(mm.s^2) = kg/(mm.s^2) | ||
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| def createScene(rootNode): | ||
| rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields showInteractionForceFields hideWireframe') | ||
| rootNode.gravity=[0,-9810, 0] | ||
| rootNode.dt = 0.0001 | ||
| rootNode.addObject('FreeMotionAnimationLoop') | ||
| rootNode.addObject('GenericConstraintSolver', name='GSSolver', maxIterations='10000', tolerance='1e-15') | ||
| rootNode.addObject('CollisionPipeline', verbose="0") | ||
| rootNode.addObject('BruteForceBroadPhase', name="N2") | ||
| rootNode.addObject('BVHNarrowPhase') | ||
| rootNode.addObject('CollisionResponse', response="FrictionContactConstraint", responseParams="mu=0.0") | ||
| rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="8.0", contactDistance="0.5", angleCone="0.01") | ||
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| solverNode = rootNode.addChild('solverNode') | ||
| solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') | ||
| solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixd") | ||
| solverNode.addObject('GenericConstraintCorrection', linearSolver='@preconditioner',printLog=True, name='ResReso') | ||
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| ########################################## | ||
| # FEM Model # | ||
| ########################################## | ||
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| sphereTranslation = [0,10,0] | ||
| model = solverNode.addChild('model') | ||
| model.addObject('MeshVTKLoader', name='loader', filename=pathMesh+'sphere.vtk', translation=sphereTranslation) | ||
| model.addObject('Mesh',src = '@loader') | ||
| model.addObject('MechanicalObject', name='tetras', template='Vec3d', showIndices='false', showIndicesScale='4e-5', rx='0',printLog="0") | ||
| # model.addObject('WriteState', name="StateWriter", filename="fullBall.state",period="0.001", writeX=True, writeX0=True, writeV=False, writeF=False, time=0) | ||
| model.addObject('UniformMass', totalMass='0.2', printLog='0') | ||
| model.addObject('TetrahedronFEMForceField', template='Vec3d',youngModulus=1.0e3,poissonRatio=0.45) | ||
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| modelCollis = model.addChild('modelCollis') | ||
| modelCollis.addObject('MeshSTLLoader', name='loader', filename=pathMesh+'sphere.stl', rotation="0 0 0", translation=sphereTranslation) | ||
| #modelCollis.addObject('MeshSTLLoader', name='loader', filename=pathMesh+'sphereFine.stl', rotation="0 0 0", translation=sphereTranslation) | ||
| modelCollis.addObject('TriangleSetTopologyContainer', src='@loader', name='container') | ||
| modelCollis.addObject('MechanicalObject', name='collisMO', template='Vec3d') | ||
| modelCollis.addObject('TriangleCollisionModel',group="0") | ||
| modelCollis.addObject('LineCollisionModel',group="0") | ||
| modelCollis.addObject('PointCollisionModel',group="0") | ||
| modelCollis.addObject('BarycentricMapping') | ||
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| rotation=[0,0,0] | ||
| #rotation=[30,0,0] | ||
| planeNode = rootNode.addChild('Plane') | ||
| planeNode.addObject('MeshObjLoader', name='loader', filename="mesh/floorFlat.obj", triangulate="true",rotation=rotation) | ||
| planeNode.addObject('Mesh', src="@loader") | ||
| planeNode.addObject('MechanicalObject', src="@loader", rotation="0 0 0", translation="0 0 0", scale="1") | ||
| planeNode.addObject('TriangleCollisionModel',simulated="0", moving="0",group="1",name='TriPlane') | ||
| planeNode.addObject('LineCollisionModel',simulated="0", moving="0",group="1") | ||
| planeNode.addObject('PointCollisionModel',simulated="0", moving="0",group="1") | ||
| planeNode.addObject('OglModel',name="Visual", fileMesh="mesh/floorFlat.obj", color="1 0 0 1",rotation=rotation, translation="0 0 0", scale="1") | ||
| planeNode.addObject('UncoupledConstraintCorrection') | ||
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| return rootNode |
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| import Sofa | ||
| import Sofa.Core | ||
| import os | ||
| pathSceneFile = os.path.dirname(os.path.abspath(__file__)) | ||
| pathMesh = os.path.dirname(os.path.abspath(__file__))+'/' | ||
| nbrOfModes = 15 | ||
| # Units: mm, kg, s. Pressure in kPa = k (kg/(m.s^2)) = k (g/(mm.s^2) = kg/(mm.s^2) | ||
| plugins=["SofaPython3","SoftRobots","ModelOrderReduction","STLIB", | ||
| # normally plugin Sofa.Component is enough but still warning | ||
| "Sofa.Component.Visual", | ||
| "Sofa.Component.AnimationLoop", | ||
| "Sofa.GL.Component.Rendering3D", | ||
| "Sofa.Component.Constraint.Lagrangian.Solver", | ||
| 'Sofa.Component.IO.Mesh', | ||
| 'Sofa.Component.Playback', | ||
| 'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection] | ||
| 'Sofa.Component.Engine.Select', # Needed to use components [BoxROI] | ||
| 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] | ||
| 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] | ||
| 'Sofa.Component.Mass', # Needed to use components [UniformMass] | ||
| 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] | ||
| 'Sofa.Component.SolidMechanics.FEM.Elastic', # Needed to use components [TetrahedronFEMForceField] | ||
| 'Sofa.Component.SolidMechanics.Spring', # Needed to use components [RestShapeSpringsForceField] | ||
| 'Sofa.Component.StateContainer', # Needed to use components [MechanicalObject] | ||
| 'Sofa.Component.Topology.Container.Dynamic'] # Needed to use components [TetrahedronSetTopologyContainer] | ||
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| def createScene(rootNode): | ||
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| rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False) | ||
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| rootNode.addObject('VisualStyle', displayFlags='showVisualModels hideBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields showInteractionForceFields hideWireframe') | ||
| rootNode.gravity=[0,-9810, 0] | ||
| rootNode.dt = 0.0001 | ||
| rootNode.addObject('FreeMotionAnimationLoop') | ||
| rootNode.addObject('GenericConstraintSolver', name='GSSolver', maxIterations='10000', tolerance='1e-15') | ||
| rootNode.addObject('CollisionPipeline', verbose="0") | ||
| rootNode.addObject('BruteForceBroadPhase', name="N2") | ||
| rootNode.addObject('BVHNarrowPhase') | ||
| rootNode.addObject('CollisionResponse', response="FrictionContactConstraint", responseParams="mu=0.0") | ||
| rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance="8.0", contactDistance="0.5", angleCone="0.01") | ||
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| solverNode = rootNode.addChild('solverNode') | ||
| solverNode.addObject('EulerImplicitSolver', name='odesolver',firstOrder="false", rayleighStiffness='0.0', rayleighMass='0.0') | ||
| solverNode.addObject('SparseLDLSolver', name="preconditioner", template="CompressedRowSparseMatrixd") | ||
| solverNode.addObject('GenericConstraintCorrection', linearSolver='@preconditioner',printLog=True, name='ResReso') | ||
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| ########################################## | ||
| # FEM Model # | ||
| ########################################## | ||
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| sphereTranslation = [0,10,0] | ||
| modesNode = solverNode.addChild('modesNode') | ||
| modesNode.addObject('MechanicalObject', position = [0]*nbrOfModes, name='modes', template='Vec1d', showIndices='false') | ||
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| model = modesNode.addChild('model') | ||
| model.addObject('MeshVTKLoader', name='loader', filename=pathMesh+'sphere.vtk', translation=sphereTranslation) | ||
| model.addObject('Mesh',src = '@loader') | ||
| model.addObject('MechanicalObject', name='tetras', template='Vec3d', showIndices='false', showIndicesScale='4e-5', rx='0',printLog="0") | ||
| # model.addObject('WriteState', name="StateWriter", filename="fullBall.state",period="0.001", writeX=True, writeX0=True, writeV=False, writeF=False, time=0) | ||
| model.addObject('UniformMass', totalMass='0.2', printLog='0') | ||
| # model.addObject('TetrahedronFEMForceField', template='Vec3d',youngModulus=1.0e3,poissonRatio=0.45) | ||
| # model.addObject('HyperReducedTetrahedronFEMForceField' , template = 'Vec3', method = 'large', name = 'reducedFF_modelNode_0', poissonRatio = 0.45, youngModulus = 1.0e3, nbModes = nbrOfModes, prepareECSW = True, performECSW = False, modesPath = 'modes.txt',nbTrainingSet=100,periodSaveGIE=10) | ||
| model.addObject('HyperReducedTetrahedronFEMForceField' , template = 'Vec3', method = 'large', name = 'reducedFF_modelNode_0', poissonRatio = 0.45, youngModulus = 1.0e3, nbModes = nbrOfModes, prepareECSW = False, performECSW = True, modesPath = 'modes.txt', RIDPath='RID.txt',weightsPath='weights.txt') | ||
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| model.addObject('ModelOrderReductionMapping' , input = '@../modes', modesPath = 'modes.txt', output = '@./tetras') | ||
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| modelCollis = model.addChild('modelCollis') | ||
| modelCollis.addObject('MeshSTLLoader', name='loader', filename=pathMesh+'sphere.stl', rotation="0 0 0", translation=sphereTranslation) | ||
| #modelCollis.addObject('MeshSTLLoader', name='loader', filename=pathMesh+'sphereFine.stl', rotation="0 0 0", translation=sphereTranslation) | ||
| modelCollis.addObject('TriangleSetTopologyContainer', src='@loader', name='container') | ||
| modelCollis.addObject('MechanicalObject', name='collisMO', template='Vec3d') | ||
| modelCollis.addObject('TriangleCollisionModel',group="0") | ||
| modelCollis.addObject('LineCollisionModel',group="0") | ||
| modelCollis.addObject('PointCollisionModel',group="0") | ||
| modelCollis.addObject('BarycentricMapping') | ||
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| rotation=[0,0,0] | ||
| #rotation=[30,0,0] | ||
| planeNode = rootNode.addChild('Plane') | ||
| planeNode.addObject('MeshObjLoader', name='loader', filename="mesh/floorFlat.obj", triangulate="true",rotation=rotation) | ||
| planeNode.addObject('Mesh', src="@loader") | ||
| planeNode.addObject('MechanicalObject', src="@loader", rotation="0 0 0", translation="0 0 0", scale="1") | ||
| planeNode.addObject('TriangleCollisionModel',simulated="0", moving="0",group="1",name='TriPlane') | ||
| planeNode.addObject('LineCollisionModel',simulated="0", moving="0",group="1") | ||
| planeNode.addObject('PointCollisionModel',simulated="0", moving="0",group="1") | ||
| planeNode.addObject('OglModel',name="Visual", fileMesh="mesh/floorFlat.obj", color="1 0 0 1",rotation=rotation, translation="0 0 0", scale="1") | ||
| planeNode.addObject('UncoupledConstraintCorrection') | ||
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| return rootNode |
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