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Copy pathReadTheDocs_Example.py
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119 lines (91 loc) · 5.03 KB
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import sys, os
sys.path.append(os.path.abspath("./bindings/Sofa/package"))
sys.path.append(os.path.abspath("./bindings/SofaRuntime/package"))
sys.path.append(os.path.abspath("./bindings/SofaTypes/package"))
import Sofa.Core
import SofaRuntime
## Register all the common component in the factory.
SofaRuntime.importPlugin("Sofa.Component")
SofaRuntime.importPlugin("Sofa.GL.Component")
def createScene(rootNode):
rootNode.bbox = [[-1, -1, -1],[1,1,1]]
rootNode.addObject("RequiredPlugin", pluginName=['Sofa.Component.AnimationLoop',
'Sofa.Component.Collision.Detection.Algorithm',
'Sofa.Component.Collision.Detection.Intersection',
'Sofa.Component.Collision.Geometry',
'Sofa.Component.Collision.Response.Contact',
'Sofa.Component.Constraint.Lagrangian.Correction',
'Sofa.Component.Constraint.Lagrangian.Solver',
'Sofa.Component.IO.Mesh',
'Sofa.Component.LinearSolver.Iterative',
'Sofa.Component.Mapping.NonLinear',
'Sofa.Component.Mass',
'Sofa.Component.IntegrationScheme.Backward',
'Sofa.Component.StateContainer',
'Sofa.Component.Topology.Container.Constant',
'Sofa.Component.Visual',
'Sofa.GL.Component.Rendering3D'
])
rootNode.addObject("VisualGrid", nbSubdiv=10, size=1000)
rootNode.findData('gravity').value=[0.0,-981.0,0.0];
rootNode.findData('dt').value=0.01
confignode = rootNode.addChild("Config")
confignode.addObject('OglSceneFrame', style="Arrows", alignment="TopRight")
#Collision function
rootNode.addObject('CollisionPipeline')
rootNode.addObject('FreeMotionAnimationLoop')
rootNode.addObject('BlockGaussSeidelConstraintSolver', tolerance="1e-6", maxIterations="1000")
rootNode.addObject('BruteForceBroadPhase', name="BroadPhase")
rootNode.addObject('BVHNarrowPhase', name="NarrowPhase")
rootNode.addObject('RuleBasedContactManager', responseParams="mu="+str(0.0), name='Response', response='FrictionContactConstraint')
rootNode.addObject('LocalMinDistance', alarmDistance=10, contactDistance=5, angleCone=0.01)
### Mechanical model
totalMass = 1.0
volume = 1.0
inertiaMatrix=[1., 0., 0., 0., 1., 0., 0., 0., 1.]
#Creating the floor
floor = rootNode.addChild("floor")
floor.addObject('MechanicalObject', name="mstate", template="Rigid3",
translation2=[0.0,-300.0,0.0], rotation2=[0., 0., 0.], showObjectScale=5.0)
floor.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
floorCollis = floor.addChild('collision')
floorCollis.addObject('MeshOBJLoader', name="loader", filename="mesh/floor.obj",
triangulate="true", scale=5.0)
floorCollis.addObject('MeshTopology', src="@loader")
floorCollis.addObject('MechanicalObject')
floorCollis.addObject('TriangleCollisionModel', moving=False, simulated=False)
floorCollis.addObject('LineCollisionModel', moving=False, simulated=False)
floorCollis.addObject('PointCollisionModel', moving=False, simulated=False)
floorCollis.addObject('RigidMapping')
#### visualization
floorVisu = floor.addChild("VisualModel")
floorVisu.loader = floorVisu.addObject('MeshOBJLoader', name="loader",
filename="mesh/floor.obj")
floorVisu.addObject('OglModel', name="model", src="@loader", scale3d=[5.0]*3,
color=[1., 1., 0.], updateNormals=False)
floorVisu.addObject('RigidMapping')
#Creating the sphere
sphere = rootNode.addChild("sphere")
sphere.addObject('MechanicalObject', name="mstate", template="Rigid3",
translation2=[0., 0., 0.], rotation2=[0., 0., 0.], showObjectScale=50)
sphere.addObject('UniformMass', name="mass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
sphere.addObject('UncoupledConstraintCorrection')
sphere.addObject('EulerImplicitIntegrationScheme', name='odesolver')
sphere.addObject('CGLinearSolver', name='Solver', iterations=25, tolerance=1e-5, threshold=1e-5)
collision = sphere.addChild('collision')
collision.addObject('MeshOBJLoader', name="loader", filename="mesh/ball.obj",
triangulate="true", scale=45.0)
collision.addObject('MeshTopology', src="@loader")
collision.addObject('MechanicalObject')
collision.addObject('TriangleCollisionModel')
collision.addObject('LineCollisionModel')
collision.addObject('PointCollisionModel')
collision.addObject('RigidMapping')
#### visualization
sphereVisu = sphere.addChild("VisualModel")
sphereVisu.loader = sphereVisu.addObject('MeshOBJLoader', name="loader",
filename="mesh/ball.obj")
sphereVisu.addObject('OglModel', name="model", src="@loader", scale3d=[50]*3,
color=[0., 1., 0.], updateNormals=False)
sphereVisu.addObject('RigidMapping')
return rootNode