import Sofa

from Sofa.Helper import msg_info

import numpy as np

# This python script shows the functions to be implemented

# in order to create your ForceField in python

class EmptyForceField(Sofa.Core.ForceFieldVec3d):

def __init__(self, *args, **kwargs):

Sofa.Core.ForceFieldVec3d.__init__(self, *args, **kwargs)

pass

# Function called at the component initialization

def init(self):

msg_info('init: not implemented yet')

pass

# Function implementing the explicit force f(x(t), v(t))

def addForce(self, m, forces, pos, vel):

msg_info('addForce: not implemented yet')

pass

# Function implementing the matrix-vector multiplication

# between the derivative of the force f with regards to

# the degrees of freedom, multiplied by a vector dx

def addDForce(self, m, dforce, dx):

msg_info('addDForce: not implemented yet')

pass

# Function implementing the matrix corresponding to the

# derivative of the force f with regards to the degrees

# of freedom

def addKToMatrix(self, mparams, nNodes, nDofs):

msg_info('addKToMatrix: not implemented yet')

pass

def createScene(root):

root.dt = 0.01

root.bbox = [[-1, -1, -1],[1,1,1]]

root.addObject("RequiredPlugin", pluginName=["Sofa.Component.LinearSolver.Iterative",

"Sofa.Component.IntegrationScheme.Backward",

"Sofa.Component.StateContainer"

])

root.addObject('DefaultAnimationLoop')

node1 = root.addChild("Node1")

node1.addObject('EulerImplicitIntegrationScheme')

node1.addObject('CGLinearSolver', iterations="100", tolerance="10-3", threshold="10-3")

node1.addObject('MechanicalObject', template="Vec3d")

# Add our python forcefield in the scene

node1.addObject( EmptyForceField(name="MyEmptyForceField") )

def main():

import SofaImGui

import Sofa.Gui

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

createScene(root)

Sofa.Simulation.initRoot(root)

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

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

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

Sofa.Gui.GUIManager.MainLoop(root)

Sofa.Gui.GUIManager.closeGUI()

print("End of simulation.")

if __name__ == '__main__':

main()