SofaPython3/splib/Testing.py at 6721f3f1a37a3f9936c356115578d9eda62197e7 · sofa-framework/SofaPython3 · GitHub

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from splib.topology.dynamic import *
from splib.simulation.headers import *
from splib.simulation.ode_solvers import *
from splib.simulation.linear_solvers import *
from splib.mechanics.linear_elasticity import *
from splib.mechanics.mass import *
from splib.mechanics.fix_points import *
from splib.topology.loader import *
from splib.core.node_wrapper import *

from splib.core.node_wrapper import ChildWrapper, ObjectWrapper
from splib.helper import exportScene


def createScene(rootNode):
    rootNode.dt = 0.03
    rootNode.gravity = [0,-9.81,0]

    setupLagrangianCollision(rootNode,requiredPlugins={"pluginName":['Sofa.Component.Constraint.Projective',
                                                               'Sofa.Component.Engine.Select',
                                                               'Sofa.Component.LinearSolver.Direct',
                                                               'Sofa.Component.Mass',
                                                               'Sofa.Component.ODESolver.Backward',
                                                               'Sofa.Component.SolidMechanics.FEM.Elastic',
                                                               'Sofa.Component.StateContainer',
                                                               'Sofa.Component.Topology.Container.Grid',
                                                               'Sofa.Component.IO.Mesh',
                                                               'Sofa.Component.LinearSolver.Direct',
                                                               'Sofa.Component.Topology.Container.Dynamic',
                                                               'Sofa.Component.Visual']})
    #
    #
    # ## TODO : Being able to call "childNode.addAnything" by using the __getattr__ method
    Liver0=rootNode.addChild("Liver0")
    Liver0.addObject("EulerImplicitSolver",name="ODESolver",rayleighStiffness="0",rayleighMass="0")
    Liver0.addObject("SparseLDLSolver",name="LinearSolver",template="CompressedRowSparseMatrixMat3x3",parallelInverseProduct="False")
    Liver0.addObject("MeshGmshLoader",name="meshLoader",filename="mesh/liver.msh")
    Liver0.addObject("TetrahedronSetTopologyModifier",name="modifier")
    Liver0.addObject("TetrahedronSetTopologyContainer",name="container",src="@meshLoader")
    Liver0.addObject("TetrahedronSetGeometryAlgorithms",name="algorithms")
    Liver0.addObject("MechanicalObject",name="mstate",template="Vec3d")
    Liver0.addObject("LinearSolverConstraintCorrection",name="constraintCorrection")
    Liver0.addObject("TetrahedronFEMForceField",name="constitutiveLaw",youngModulus="3000",poissonRatio="0.3",method="large")
    Liver0.addObject("MeshMatrixMass",name="mass",massDensity="1")
    Liver0.addObject("BoxROI",name="fixedBoxROI",box="0 3 0 2 5 2")
    Liver0.addObject("FixedProjectiveConstraint",name="fixedConstraints",indices="@fixedBoxROI.indices")
    Visu=Liver0.addChild("Visu")
    Visu.addObject("TriangleSetTopologyModifier",name="modifier")
    Visu.addObject("TriangleSetTopologyContainer",name="container")
    Visu.addObject("TriangleSetGeometryAlgorithms",name="algorithms")
    Visu.addObject("Tetra2TriangleTopologicalMapping",name="TopologicalMapping",input="@../container",output="@container")
    Visu.addObject("OglModel",name="OglModel",topology="@container",color="[1.0, 0.2, 0.8]")
    Visu.addObject("IdentityMapping",name="Mapping",isMechanical="False")


    SimulatedLiver1 = rootNode.addChild("Liver1")
    addImplicitODE(SimulatedLiver1)
    addLinearSolver(SimulatedLiver1,iterative=False, template="CompressedRowSparseMatrixMat3x3")
    loadMesh(SimulatedLiver1,filename="mesh/liver.msh")
    addDynamicTopology(SimulatedLiver1,type=ElementType.TETRAHEDRA,source="@meshLoader")
    SimulatedLiver1.addObject("MechanicalObject",name="mstate", template='Vec3d')
    SimulatedLiver1.addObject("LinearSolverConstraintCorrection",name="constraintCorrection")
    addLinearElasticity(SimulatedLiver1,ElementType.TETRAHEDRA, poissonRatio="0.3", youngModulus="3000", method='large')
    addMass(SimulatedLiver1,template='Vec3d',massDensity="2")
    addFixation(SimulatedLiver1,ConstraintType.PROJECTIVE,boxROIs=[0, 3, 0, 2, 5, 2])

    SimulatedLiverVisu = SimulatedLiver1.addChild("Visu")
    addDynamicTopology(SimulatedLiverVisu,ElementType.TRIANGLES)
    SimulatedLiverVisu.addObject("Tetra2TriangleTopologicalMapping", name="TopologicalMapping",  input="@../container", output="@container")
    SimulatedLiverVisu.addObject("OglModel", name="OglModel",  topology="@container",color=[1.0,0.2,0.8])
    SimulatedLiverVisu.addObject("IdentityMapping",name="Mapping",isMechanical=False)


    return rootNode


if __name__ == "__main__":
    Node = exportScene()
    createScene(Node)