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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) + +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") + + 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') + + ########################################## + # FEM Model # + ########################################## + + 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) + + 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') + + 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') + + return rootNode diff --git a/examples/bouncingBall/softSphereFalling_reduced.py b/examples/bouncingBall/softSphereFalling_reduced.py new file mode 100644 index 0000000..dc680e6 --- /dev/null +++ b/examples/bouncingBall/softSphereFalling_reduced.py @@ -0,0 +1,89 @@ +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] + +def createScene(rootNode): + + rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False) + + 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") + + 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') + + ########################################## + # FEM Model # + ########################################## + + sphereTranslation = [0,10,0] + modesNode = solverNode.addChild('modesNode') + modesNode.addObject('MechanicalObject', position = [0]*nbrOfModes, name='modes', template='Vec1d', showIndices='false') + + 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') + + model.addObject('ModelOrderReductionMapping' , input = '@../modes', modesPath = 'modes.txt', output = '@./tetras') + + 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') + + 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') + + return rootNode diff --git a/examples/bouncingBall/sphere.stl b/examples/bouncingBall/sphere.stl new file mode 100644 index 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[dummyActuator] +# addRigidBodyModes = [1,1,1] + ### DIAMOND ROBOT PARAM # nodeToReduce = '/modelNode' # # north = ObjToAnimate("modelNode/north", incr=5,incrPeriod=10,rangeOfAction=40)