PluginFinder

PluginFinder is a program loading SOFA simulations in order to find the required SOFA plugins, i.e. the plugins containing all the components of the simulation.

• SOFA: https://www.sofa-framework.org/

How it works

It first loads all the SOFA plugins from the list contained in the file plugin_list.conf or plugin_list.conf.default. It is a similar mechanism in runSofa. In order to find the required plugins, all the plugins must be loaded. :warning: A plugin cannot be found if it is not loaded.

It loads one or several simulations sequentially. For each simulation:

• The simulation is loaded
• All the components (derived from sofa::core::objectmodel::BaseObject) are retrieved from the root node
• For each component, it finds the corresponding plugin. The component must be found in the sofa::core::ObjectFactory, i.e. the corresponding plugin must be loaded.
• Replace the <RequiredPlugin/> list by the new one.
• The simulation is unloaded

Limitations

• A plugin cannot be found if it is not loaded
• Limited to XML files
• At least one <RequiredPlugin/> must be present in the scene

Demo

PluginFinder examples\Components\mass\DiagonalMass.scn

The following scene

<?xml version="1.0" ?>
<Node name="root" dt="0.005">
    <RequiredPlugin name="Sofa.Component.Mass"/>

    <DefaultPipeline verbose="0" name="CollisionPipeline" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <DefaultContactManager response="PenalityContactForceField" name="collision response" />
    <DiscreteIntersection />

    <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
    <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />

    <Node name="Liver" depend="topo dofs">
        <EulerImplicitSolver name="integration scheme" />
        <CGLinearSolver name="linear solver" iterations="1000" tolerance="1e-9" threshold="1e-9"/>
        <MechanicalObject name="dofs" src="@../loader" />
        <!-- Container for the tetrahedra-->
        <TetrahedronSetTopologyContainer name="TetraTopo" src="@../loader" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
        <DiagonalMass totalMass="60" name="diagonalMass" />
        <TetrahedralCorotationalFEMForceField template="Vec3d" name="FEM" method="large" poissonRatio="0.45" youngModulus="5000" />
        <FixedConstraint name="FixedConstraint" indices="3 39 64" />
        
        <Node name="Visu">
            <OglModel name="VisualModel" src="@../../meshLoader_0" color="red" />
            <BarycentricMapping name="VisualMapping" input="@../dofs" output="@VisualModel" />
        </Node>
        <Node name="Surf">
    	    <SphereLoader filename="mesh/liver.sph" />
            <MechanicalObject name="spheres" position="@[-1].position" />
            <SphereCollisionModel name="CollisionModel" listRadius="@[-2].listRadius" />
            <BarycentricMapping name="CollisionMapping" input="@../dofs" output="@spheres" />
        </Node>
    </Node>
</Node>

is transformed to:

<?xml version="1.0" ?>
<Node name="root" dt="0.005">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultPipeline verbose="0" name="CollisionPipeline" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <DefaultContactManager response="PenalityContactForceField" name="collision response" />
    <DiscreteIntersection />

    <MeshGmshLoader name="loader" filename="mesh/liver.msh" />
    <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />

    <Node name="Liver" depend="topo dofs">
        <EulerImplicitSolver name="integration scheme" />
        <CGLinearSolver name="linear solver" iterations="1000" tolerance="1e-9" threshold="1e-9"/>
        <MechanicalObject name="dofs" src="@../loader" />
        <!-- Container for the tetrahedra-->
        <TetrahedronSetTopologyContainer name="TetraTopo" src="@../loader" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
        <DiagonalMass totalMass="60" name="diagonalMass" />
        <TetrahedralCorotationalFEMForceField template="Vec3d" name="FEM" method="large" poissonRatio="0.45" youngModulus="5000" />
        <FixedConstraint name="FixedConstraint" indices="3 39 64" />
        
        <Node name="Visu">
            <OglModel name="VisualModel" src="@../../meshLoader_0" color="red" />
            <BarycentricMapping name="VisualMapping" input="@../dofs" output="@VisualModel" />
        </Node>
        <Node name="Surf">
    	    <SphereLoader filename="mesh/liver.sph" />
            <MechanicalObject name="spheres" position="@[-1].position" />
            <SphereCollisionModel name="CollisionModel" listRadius="@[-2].listRadius" />
            <BarycentricMapping name="CollisionMapping" input="@../dofs" output="@spheres" />
        </Node>
    </Node>
</Node>