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[src] Add new engine ProximityOscillatorConstraint that compute oscillation motion of points between rest_position and closest target (#38)
* backup work on center motion * backup work * Fix behavior with totally new mechanism * totally change name an clean Data * fix typo * Add basic example
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‎CMakeLists.txt‎

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${INFINYTOOLKIT_SRC_DIR}/NeedleTracker.h
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${INFINYTOOLKIT_SRC_DIR}/MiddleForceField.h
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${INFINYTOOLKIT_SRC_DIR}/MiddleForceField.inl
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${INFINYTOOLKIT_SRC_DIR}/ProximityOscillatorConstraint.h
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${INFINYTOOLKIT_SRC_DIR}/ProximityOscillatorConstraint.inl
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${INFINYTOOLKIT_SRC_DIR}/Triangle2RefinedTriangleTopologicalMapping.h
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## Carving tools sections
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${INFINYTOOLKIT_SRC_DIR}/HapticEmulator.cpp
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${INFINYTOOLKIT_SRC_DIR}/NeedleTracker.cpp
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${INFINYTOOLKIT_SRC_DIR}/MiddleForceField.cpp
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${INFINYTOOLKIT_SRC_DIR}/ProximityOscillatorConstraint.cpp
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${INFINYTOOLKIT_SRC_DIR}/Triangle2RefinedTriangleTopologicalMapping.cpp
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## Carving tools sections

‎examples/ProximityOscillatorConstraint.scn‎

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<?xml version="1.0" ?>
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<Node name="root" dt="0.03" showBoundingTree="0" gravity="0 -0.9 0">
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<Node name="RequiredPlugins">
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<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, CollisionPipeline] -->
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<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
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<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
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<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
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<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
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<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
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<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
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<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
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<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
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<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
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<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
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<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
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<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
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<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
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<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
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<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
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<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
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<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
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<RequiredPlugin name="InfinyToolkit" />
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</Node>
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<VisualStyle displayFlags="showVisual hideCollisionModels showForceFields showBehaviorModels" />
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<DefaultAnimationLoop />
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<DefaultVisualManagerLoop />
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<CollisionPipeline verbose="0" />
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<BruteForceBroadPhase/>
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<BVHNarrowPhase/>
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<CollisionResponse response="PenalityContactForceField" />
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<MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1"/>
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<Node name="SurfaceGrid">
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<RegularGridTopology name="grid" nx="20" ny="20" nz="3" xmin="0" xmax="20" ymin="0" ymax="20" zmin="0" zmax="2" drawEdges="0"/>
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</Node>
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<Node name="WaveMotion">
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<RegularGridTopology name="centers" nx="20" ny="20" nz="1" xmin="0" xmax="20" ymin="0" ymax="20" zmin="-6" zmax="-6" drawEdges="0"/>
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<ProximityOscillatorConstraint name="center" amplitude="1.0" pace="10.5" showMotion="1" position="@../SurfaceGrid/grid.position" centers="@centers.position"/>
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<MechanicalObject name='dofs' position="@center.outputPositions" showObject="0"/>
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</Node>
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<Node name="DeformableGrid">
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<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
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<CGLinearSolver iterations="15" name="linear solver" tolerance="1.0e-4" threshold="1.0e-4" />
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<MechanicalObject position="@SurfaceGrid/grid.position" name="dofs" />
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<HexahedronSetTopologyContainer name='Container' src="@../SurfaceGrid/grid"/>
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<HexahedronSetTopologyModifier name='Modifier'/>
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<HexahedronSetGeometryAlgorithms name='GeomAlgo' template='Vec3d'/>
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<DiagonalMass totalMass="1.0" />
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<HexahedronFEMForceField
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name='FEM'
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youngModulus='1000'
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poissonRatio='0.3'
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method='large'
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/>
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<RestShapeSpringsForceField external_rest_shape="@WaveMotion/dofs"
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stiffness="200" angularStiffness="1000" />
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</Node>
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</Node>

‎examples/ProximityOscillatorConstraint.scn.view‎

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<?xml version="1.0" encoding="UTF-8"?>
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<Camera version="1.0">
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<!--Vector of 3 reals (x, y, z)-->
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<position value="24.3902 10.2953 7.4892"/>
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<!--Quaternion (x, y, z, w)-->
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<orientation value="0.356487 0.486826 0.666412 0.437964"/>
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<!--Real-->
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<fieldOfView value="45"/>
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<!--Real-->
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<distance value="0"/>
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<!--Real-->
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<zNear value="0.75"/>
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<!--Real-->
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<zFar value="45.7499"/>
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<!--Int (0 -> Perspective, 1 -> Orthographic)-->
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<projectionType value="Perspective"/>
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</Camera>

‎src/InfinyToolkit/ProximityOscillatorConstraint.cpp‎

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/*****************************************************************************
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* - Copyright (C) - 2020 - InfinyTech3D - *
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* *
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* This file is part of the InfinyToolkit plugin for the SOFA framework *
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* *
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* Commercial License Usage: *
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* Licensees holding valid commercial license from InfinyTech3D may use this *
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* file in accordance with the commercial license agreement provided with *
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* the Software or, alternatively, in accordance with the terms contained in *
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* a written agreement between you and InfinyTech3D. For further information *
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* on the licensing terms and conditions, contact: contact@infinytech3d.com *
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* *
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* GNU General Public License Usage: *
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* Alternatively, this file may be used under the terms of the GNU General *
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* Public License version 3. The licenses are as published by the Free *
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* Software Foundation and appearing in the file LICENSE.GPL3 included in *
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* the packaging of this file. Please review the following information to *
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* ensure the GNU General Public License requirements will be met: *
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* https://www.gnu.org/licenses/gpl-3.0.html. *
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* *
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* Authors: see Authors.txt *
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* Further information: https://infinytech3d.com *
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****************************************************************************/
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#define SOFA_COMPONENT_FORCEFIELD_ProximityOscillatorConstraint_CPP
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#include <sofa/core/ObjectFactory.h>
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#include <InfinyToolkit/ProximityOscillatorConstraint.inl>
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namespace sofa::infinytoolkit
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{
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using namespace sofa::defaulttype;
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void registerProximityOscillatorConstraint(sofa::core::ObjectFactory* factory)
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{
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factory->registerObjects(sofa::core::ObjectRegistrationData("Middle interpolated force applied to given degrees of freedom.")
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.add< ProximityOscillatorConstraint<Vec3Types> >());
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}
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template class SOFA_INFINYTOOLKIT_API ProximityOscillatorConstraint<Vec3Types>;
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} // namespace sofa::infinytoolkit

‎src/InfinyToolkit/ProximityOscillatorConstraint.h‎

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/*****************************************************************************
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* - Copyright (C) - 2020 - InfinyTech3D - *
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* *
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* This file is part of the InfinyToolkit plugin for the SOFA framework *
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* *
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* Commercial License Usage: *
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* Licensees holding valid commercial license from InfinyTech3D may use this *
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* file in accordance with the commercial license agreement provided with *
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* the Software or, alternatively, in accordance with the terms contained in *
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* a written agreement between you and InfinyTech3D. For further information *
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* on the licensing terms and conditions, contact: contact@infinytech3d.com *
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* *
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* GNU General Public License Usage: *
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* Alternatively, this file may be used under the terms of the GNU General *
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* Public License version 3. The licenses are as published by the Free *
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* Software Foundation and appearing in the file LICENSE.GPL3 included in *
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* the packaging of this file. Please review the following information to *
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* ensure the GNU General Public License requirements will be met: *
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* https://www.gnu.org/licenses/gpl-3.0.html. *
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* *
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* Authors: see Authors.txt *
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* Further information: https://infinytech3d.com *
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****************************************************************************/
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#pragma once
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#include <InfinyToolkit/config.h>
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#include <sofa/core/DataEngine.h>
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#include <chrono>
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namespace sofa::infinytoolkit
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{
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using sofa::core::DataEngine;
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/** Apply forces changing to given degres of freedom. Some keyTimes are given
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* and the force to be applied is linearly interpolated between keyTimes. */
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template<class DataTypes>
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class ProximityOscillatorConstraint : public DataEngine
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{
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public:
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SOFA_CLASS(SOFA_TEMPLATE(ProximityOscillatorConstraint, DataTypes), core::DataEngine);
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using VecCoord = typename DataTypes::VecCoord;
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using VecDeriv = typename DataTypes::VecDeriv;
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using Coord = typename DataTypes::Coord;
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using Deriv = typename DataTypes::Deriv;
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using Real = typename Coord::value_type;
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using DataVecCoord = core::objectmodel::Data<VecCoord>;
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using DataVecDeriv = core::objectmodel::Data<VecDeriv>;
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ProximityOscillatorConstraint();
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void init() override;
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void doUpdate() override;
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void handleEvent(sofa::core::objectmodel::Event* event) override;
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void draw(const core::visual::VisualParams* vparams) override;
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protected:
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/// Will compute the barycenter of the given set of coordinates.
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void computeBarycenter();
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void computeDistribution();
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public:
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/// List of coordinates points
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Data<VecCoord> d_positions;
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Data<VecCoord> d_outputPositions;
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/// List of coordinates points
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Data<VecCoord> d_centers;
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VecCoord m_centersOrdered;
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/// Time to perform a full Pace (deflate + inflate). Same scale as the simulation time.
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Data<Real> d_pace;
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Data<Real> d_amplitude;
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/// Parameter to display the force direction
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Data<bool> p_showMotion;
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private :
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// keep trace of the latest time we measured
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std::chrono::time_point<std::chrono::system_clock> m_startTime;
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std::vector<int> m_distribution;
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Real m_startTimeWave = 1.0;
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int centerDone = -4;
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int centerStart = 0;
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int centerCurrent = 0;
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Real nextStart = 0.0;
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Real length = 4.0_sreal;
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//Real current
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}; // definition of the ProximityOscillatorConstraint class
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#if !defined(SOFA_COMPONENT_FORCEFIELD_ProximityOscillatorConstraint_CPP)
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extern template class SOFA_INFINYTOOLKIT_API ProximityOscillatorConstraint<sofa::defaulttype::Vec3Types>;
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#endif // !defined(SOFA_COMPONENT_FORCEFIELD_ProximityOscillatorConstraint_CPP)
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} // namespace sofa::infinytoolkit

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