BeamAdapter/examples/python3/SingleBeamDeployment.py at 87c5c8c585bc6be54195219251960e5c27b06424 · sofa-framework/BeamAdapter · GitHub

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import sys
import Sofa

def createScene(rootNode):

    rootNode.addObject('RequiredPlugin', pluginName='BeamAdapter Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Direct Sofa.Component.ODESolver.Backward Sofa.Component.StateContainer Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Grid Sofa.Component.Visual Sofa.Component.SolidMechanics.Spring Sofa.Component.Topology.Container.Dynamic')
    rootNode.addObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings showForceFields')

    rootNode.addObject('DefaultAnimationLoop')
    rootNode.addObject('DefaultVisualManagerLoop')

    topoLines = rootNode.addChild('EdgeTopology')
    topoLines.addObject('RodStraightSection', name='StraightSection',
                                 length=980.0, radius=0.9,
                                 nbEdgesCollis=30, nbEdgesVisu=196,
                                 youngModulus=20000)

    topoLines.addObject('RodSpireSection', name='SpireSection',
                                 length=20.0, radius=0.9,
                                 nbEdgesCollis=5, nbEdgesVisu=4,
                                 spireDiameter=25, spireHeight=0,
                                 youngModulus=20000)
    topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
                                 wireMaterials="@StraightSection @SpireSection")

    topoLines.addObject('EdgeSetTopologyContainer', name='meshLinesBeam')
    topoLines.addObject('EdgeSetTopologyModifier', name='Modifier')
    topoLines.addObject('EdgeSetGeometryAlgorithms', name='GeomAlgo', template='Rigid3d')
    topoLines.addObject('MechanicalObject', name='dofTopo2', template='Rigid3d')


    BeamMechanics = rootNode.addChild('BeamModel', bbox="0 0 0 10 10 10")
    BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1)
    BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False)
    BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True,
                                    nx=60, ny=1, nz=1,
                                    xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
                                    p0=[0,0,0])
    BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90)
    BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
    BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
    BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation',
                                    startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True,
                                    rotationInstrument=[0, 0, 0], step=0.5, speed=0.5,
                                    listening=True, controlledInstrument=0)
    BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
    BeamMechanics.addObject('FixedWeakConstraint', name="RestSPForceField", indices='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)


def main():
    import SofaRuntime
    import Sofa.Gui

    root = Sofa.Core.Node('root')
    createScene(root)
    Sofa.Simulation.init(root)

    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()


# Function used only if this script is called from a python environment
if __name__ == '__main__':
    main()