# Choose in your script to activate or not the GUI

USE_GUI = True

def main():

# Required import for python

import Sofa

# Make sure to load all SOFA libraries

#Create the root node

root = Sofa.Core.Node("root")

# Call the below 'createScene' function to create the scene graph

createScene(root)

Sofa.Simulation.initRoot(root)

if not USE_GUI:

for iteration in range(10):

Sofa.Simulation.animate(root, root.dt.value)

else:

import Sofa.Gui

import SofaQt # specific import for Qt-based GUI

# Find out the supported GUIs

print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))

# Launch the GUI (qt or qglviewer)

Sofa.Gui.GUIManager.Init("myscene", "qglviewer")

Sofa.Gui.GUIManager.createGUI(root, __file__)

Sofa.Gui.GUIManager.SetDimension(1080, 1080)

# Initialization of the scene will be done here

Sofa.Gui.GUIManager.MainLoop(root)

Sofa.Gui.GUIManager.closeGUI()

print("GUI was closed")

print("Simulation is done.")

# Function called when the scene graph is being created

def createScene(root):

root.addObject('RequiredPlugin', pluginName='Sofa.Component.StateContainer')

# Scene must now include a AnimationLoop

root.addObject('DefaultAnimationLoop')

# Add new nodes and objects in the scene

node1 = root.addChild("Node1")

node2 = root.addChild("Node2")

node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="1")

node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1 0 0 0 1", showObject="1")

return root

# Function used only if this script is called from a python environment

if __name__ == '__main__':

main()