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[SofaCarving] Add an example written in python #3457

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merged 6 commits into from
Sep 6, 2023
Merged

[SofaCarving] Add an example written in python #3457

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fb9a90b
Add example scene in python
epernod Oct 26, 2022
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Apply suggestions from code review
epernod Nov 7, 2022
bb9fde7
Update SimpleCarving.py
epernod Sep 5, 2023
d42c159
Update SimpleCarving.py
epernod Sep 5, 2023
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Merge branch 'sofa-framework:master' into inf_carv_python
epernod Sep 5, 2023
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Update SimpleCarving.py
epernod Sep 6, 2023
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100 changes: 100 additions & 0 deletions applications/plugins/SofaCarving/examples/SimpleCarving.py
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Original file line number Diff line number Diff line change
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import Sofa


#Choose in your script to activate or not the GUI
USE_GUI = True


def main():
import SofaRuntime
import Sofa.Gui

root = Sofa.Core.Node("root")
createScene(root)
Sofa.Simulation.init(root)

if not USE_GUI:
for iteration in range(10):
Sofa.Simulation.animate(root, root.dt.value)
else:
Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
Sofa.Gui.GUIManager.createGUI(root, __file__)
Sofa.Gui.GUIManager.SetDimension(1080, 1080)
Sofa.Gui.GUIManager.MainLoop(root)
Sofa.Gui.GUIManager.closeGUI()

def createScene(root):

root.gravity=[0, 0, 0]
root.dt=0.05
root.showBoundingTree = 0
root.addObject('RequiredPlugin', name="plug1", pluginName="Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="plug2", pluginName="Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Iterative Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="plug3", pluginName="Sofa.Component.Engine.Select Sofa.Component.IO.Mesh Sofa.Component.Mass ")
root.addObject('RequiredPlugin', name="plug4", pluginName="Sofa.Component.Mapping.Linear Sofa.Component.Mapping.NonLinear Sofa.Component.SolidMechanics.FEM.Elastic Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="plug5", pluginName="Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Mapping")
root.addObject('RequiredPlugin', name="plug6", pluginName="Sofa.Component.Visual Sofa.GL.Component.Rendering3D")
root.addObject('RequiredPlugin', name="plug7", pluginName="Sofa.Component.Collision.Detection.Algorithm SofaCarving")
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root.addObject('VisualStyle',displayFlags="")
root.addObject('DefaultAnimationLoop')
root.addObject('DefaultPipeline',verbose="0")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('DefaultContactManager',response="PenalityContactForceField")
root.addObject('MinProximityIntersection',name="Proximity",alarmDistance="0.08",contactDistance="0.05",useSurfaceNormals="false")
root.addObject('CarvingManager',active="true",carvingDistance="-0.01")



TT = root.addChild('TT')

TT.addObject('EulerImplicitSolver',name="cg_odesolver",printLog="false",rayleighStiffness="0.1",rayleighMass="0.1")
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TT.addObject('CGLinearSolver',iterations="25",name="linear solver",tolerance="1.0e-9",threshold="1.0e-9")
TT.addObject('MeshGmshLoader',filename="mesh/liver.msh",name="loader",scale="1")

TT.addObject('MechanicalObject',template="Vec3d",src="@loader",name="Volume")

TT.addObject('TetrahedronSetTopologyContainer', name="topo", src="@loader")
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TT.addObject('TetrahedronSetTopologyModifier', name="topoMod")
TT.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")

TT.addObject('DiagonalMass',massDensity="0.5")
TT.addObject('FixedConstraint',indices="1 3 50")
TT.addObject('TetrahedralCorotationalFEMForceField',name="CFEM",youngModulus="160",poissonRatio="0.3",method="large")

T=TT.addChild('T')
T.addObject('TriangleSetTopologyContainer', name="Container")
T.addObject('TriangleSetTopologyModifier', name="Modifier")
T.addObject('TriangleSetGeometryAlgorithms',name="GeomAlgo",template="Vec3d")
T.addObject('Tetra2TriangleTopologicalMapping', input="@../topo", output="@Container")

T.addObject('TriangleCollisionModel', tags="CarvingSurface")

Visu = T.addChild('Visu')
Visu.addObject('OglModel',name="Visual",material="Default Diffuse 1 0 1 0 1 Ambient 0 1 1 1 1 Specular 1 1 1 0 1 Emissive 0 1 1 0 1 Shininess 1 100")
Visu.addObject('IdentityMapping',input="@Volume",output="@Visual")


Instrument = root.addChild('Instrument')
Instrument.addObject('EulerImplicitSolver',name="cg_odesolver",printLog="false")
Instrument.addObject('CGLinearSolver',iterations="25",name="linear solver",tolerance="1.0e-9",threshold="1.0e-9")
Instrument.addObject('MechanicalObject',template="Rigid3d",name="instrumentState",tags="Omni",rotation="90 45 0",translation="0 0 1")
Instrument.addObject('UniformMass',template="Rigid3d",name="mass",totalMass="5")
visuIns = Instrument.addChild('visuIns')
visuIns.addObject('MeshOBJLoader',name="meshLoader_0",filename="mesh/dental_instrument_light.obj",scale3d="1 1 1",translation="-0.412256 -0.067639 3.35",rotation="180 0 150",handleSeams="1")
visuIns.addObject('OglModel',template="Vec3d",name="InstrumentVisualModel",src="@meshLoader_0",material="Default Diffuse 1 1 0.2 0.2 1 Ambient 1 0.2 0.04 0.04 1 Specular 0 1 0.2 0.2 1 Emissive 0 1 0.2 0.2 1 Shininess 0 45")
visuIns.addObject('RigidMapping',template="Rigid3d,Vec3d",name="MM->VM mapping",input="@instrumentState",output="@InstrumentVisualModel")

colIns = Instrument.addChild('colIns')
colIns.addObject('MechanicalObject',template="Vec3d",name="Particle",position="-0.2 -0.2 -0.2")
colIns.addObject('SphereCollisionModel',name="ParticleModel",radius="0.2",tags="CarvingTool")
#colIns.addObject('SphereCollisionModel',name="ParticleModel",radius="0.2")
colIns.addObject('RigidMapping',template="Rigid3d,Vec3d",name="MM->CM mapping",input="@instrumentState",output="@Particle")

return root


#Function used only if this script is called from a python environment
if __name__ == '__main__':
main()
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Instead of a global variable, please do something like

if __name__ == '__main__':
    with_gui = False
    if len(sys.args) == 2:
        with_gui = sys.args[1] == "with-gui"
    main(with_gui)

Would be even better to use argparser https://docs.python.org/3/library/argparse.html instead of manually processing the args.