Merge pull request #259 from alxbilger/springforcefield

Add bindings for all data types supported by SpringForceField + example

Author: damienmarchal

bindings/Modules/src/SofaPython3/SofaDeformable/Binding_SpringForceField.cpp

@@ -101,8 +101,13 @@ void bindSpringForcefield(py::module& m) {
     });
 }
 
-void moduleAddSpringForceField(py::module& m) {
-    bindSpringForcefield<sofa::defaulttype::Vec3dTypes>(m);
-    bindSpringForcefield<sofa::defaulttype::Vec6dTypes>(m);
+void moduleAddSpringForceField(py::module& m)
+{
+    bindSpringForcefield<sofa::defaulttype::Vec3Types>(m);
+    bindSpringForcefield<sofa::defaulttype::Vec2Types>(m);
+    bindSpringForcefield<sofa::defaulttype::Vec1Types>(m);
+    bindSpringForcefield<sofa::defaulttype::Vec6Types>(m);
+    bindSpringForcefield<sofa::defaulttype::Rigid3Types>(m);
 }
+
 } // namespace sofapython3

examples/springForceField.py

@@ -0,0 +1,59 @@
+import Sofa
+import SofaRuntime
+from Sofa import SofaDeformable
+
+
+def createScene(root):
+    root.gravity = [0, -9.81, 0]
+
+    root.addObject('DefaultAnimationLoop')
+    root.addObject('DefaultVisualManagerLoop')
+
+    surface_node = root.addChild('Surface')
+    surface_loader = surface_node.addObject('MeshOBJLoader', name='surface_loader', filename='mesh/ball.obj')
+
+    root.addObject('EulerImplicitSolver', name='ODE', rayleighStiffness=0.1, rayleighMass=0.1)
+    root.addObject('CGLinearSolver', name='linear solver', iterations=25, tolerance=1e-08, threshold=1e-08)
+
+    ball_0 = add_ball(root, 'ball_0', (-2, 0, 0), surface_loader)
+    ball_1 = add_ball(root, 'ball_1', (2, 0, 0), surface_loader)
+
+    ball_0.addObject('RestShapeSpringsForceField', name='rest_spring', stiffness=1e1, angularStiffness=1e03)
+    springs = root.addObject('StiffSpringForceField',
+                             object1=ball_0.dofs.getLinkPath(), object2=ball_1.dofs.getLinkPath(),
+                             indices1=[0], indices2=[0],
+                             length=[4], stiffness=2)
+
+    root.addObject(KeyPressedController(name='controller', springs=springs))
+
+    floor = root.addChild('Floor')
+    floor_loader = floor.addObject('MeshOBJLoader', name='surface_loader', filename='mesh/floor.obj',
+                                    scale3d=[0.2, 0.1, 0.2], translation=[0, -15, 0])
+    floor.addObject('OglModel', src=floor_loader.getLinkPath())
+
+
+def add_ball(root, name, position, obj_loader):
+    ball_node = root.addChild(name)
+
+    initial_position = position + (0, 0, 0, 1)
+    ball_node.addObject('MechanicalObject', name='dofs', template='Rigid3d', position=initial_position)
+    ball_node.addObject('UniformMass', name='mass', totalMass=1)
+    ball_node.addObject('PlaneForceField', normal='0 1 0', d='-15', stiffness='10000')
+
+    visual_model = ball_node.addChild('visual')
+    visual_model.addObject('OglModel', src=obj_loader.getLinkPath())
+    visual_model.addObject('RigidMapping')
+
+    return ball_node
+
+
+class KeyPressedController(Sofa.Core.Controller):
+
+    def __init__(self, *args, **kwargs):
+        Sofa.Core.Controller.__init__(self, *args, **kwargs)
+        self.springs = kwargs.get('springs')
+
+    def onKeypressedEvent(self, event):
+        if event['key'] == 'L':
+            print('Remove spring')
+            self.springs.removeSpring(0)