# Required import for python

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, -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.ODESolver.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 hideVisualModels showForceFields")

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

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

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

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

root.addObject('DiscreteIntersection')

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

liver = root.addChild('Liver')

liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness=0.1, rayleighMass=0.1)

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

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

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

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

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=False)

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

visu = liver.addChild('Visu')

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

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")

root.addObject(KeyPressedController(name = "SphereCreator"))

return root

class KeyPressedController(Sofa.Core.Controller):

""" This controller monitors new sphere objects.

Press ctrl and the L key to make spheres falling!

"""

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

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

self.iteration = 0

def onKeypressedEvent(self, event):

# Press L key triggers the creation of new objects in the scene

if event['key']=='L':

self.createNewSphere()

def createNewSphere(self):

root = self.getContext()

newSphere = root.addChild('FallingSphere-'+str(self.iteration))

newSphere.addObject('EulerImplicitSolver')

newSphere.addObject('CGLinearSolver', threshold='1e-09', tolerance='1e-09', iterations='200')

MO = newSphere.addObject('MechanicalObject', showObject=True, position=[-2, 10+self.iteration, 0, 0, 0, 0, 1], name=f'Particle-{self.iteration}', template='Rigid3d')

Mass = newSphere.addObject('UniformMass', totalMass=1)

Force = newSphere.addObject('ConstantForceField', name="CFF", totalForce=[0, -1, 0, 0, 0, 0] )

Sphere = newSphere.addObject('SphereCollisionModel', name="SCM", radius=1.0 )

newSphere.init()

self.iteration = self.iteration+1

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

if __name__ == '__main__':

main()