# Choose in your script to activate or not the GUI

USE_GUI = True

def main():

# Required import for python

import Sofa

import SofaImGui

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

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

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()

def createScene(root):

root.gravity=[0, -9.81, 0]

root.dt=0.02

root.addObject("RequiredPlugin", pluginName=[ 'Sofa.Component.Collision.Detection.Algorithm',

'Sofa.Component.Collision.Detection.Intersection',

'Sofa.Component.Collision.Geometry',

'Sofa.Component.Collision.Response.Contact',

'Sofa.Component.Constraint.Projective',

'Sofa.Component.IO.Mesh',

'Sofa.Component.LinearSolver.Iterative',

'Sofa.Component.Mapping.Linear',

'Sofa.Component.Mass',

'Sofa.Component.IntegrationScheme.Backward',

'Sofa.Component.SolidMechanics.FEM.Elastic',

'Sofa.Component.StateContainer',

'Sofa.Component.Topology.Container.Dynamic',

'Sofa.Component.Visual',

'Sofa.GL.Component.Rendering3D'

])

root.addObject('DefaultAnimationLoop')

root.addObject('VisualStyle', displayFlags="showCollisionModels")

root.addObject('CollisionPipeline', name="CollisionPipeline")

root.addObject('BruteForceBroadPhase', name="BroadPhase")

root.addObject('BVHNarrowPhase', name="NarrowPhase")

root.addObject('CollisionResponse', name="CollisionResponse", response="PenalityContactForceField")

root.addObject('DiscreteIntersection')

root.addObject('MeshOBJLoader', name="surface_mesh_loader", filename="mesh/liver-smooth.obj")

liver = root.addChild('Liver')

liver.addObject('EulerImplicitIntegrationScheme', name="integration_scheme", rayleighStiffness="0.1", rayleighMass="0.1")

liver.addObject('CGLinearSolver', name="iterative_linear_solver", iterations="25", tolerance="1e-09", threshold="1e-09")

liver.addObject('MeshGmshLoader', name="volume_mesh_loader", filename="mesh/liver.msh")

liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@volume_mesh_loader")

liver.addObject('MechanicalObject', name="dofs", src="@volume_mesh_loader")

liver.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")

liver.addObject('DiagonalMass', name="Mass", massDensity="1.0")

liver.addObject('TetrahedralCorotationalFEMForceField', template="Vec3d", name="FEM", method="large", poissonRatio="0.3", youngModulus="3000", computeGlobalMatrix="0")

liver.addObject('FixedProjectiveConstraint', name="FixedConstraint", indices="3 39 64")

visu = liver.addChild('Visu')

visu.addObject('OglModel', name="VisualModel", src="@../../surface_mesh_loader")

visu.addObject('BarycentricMapping', name="VisualMapping", input="@../dofs", output="@VisualModel")

surf = liver.addChild('Surf')

surf.addObject('SphereLoader', name="sphereLoader", filename="mesh/liver.sph")

surf.addObject('MechanicalObject', name="spheres", position="@sphereLoader.position")

surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@sphereLoader.listRadius")

surf.addObject('BarycentricMapping', name="CollisionMapping", input="@../dofs", output="@spheres")

return root

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

if __name__ == '__main__':

main()