ModelOrderReduction/examples/others/hexaBeam/hexaBeam_gravity.py at 7f6fbd3402660af990da20a430c9a4330daf9642 · SofaDefrost/ModelOrderReduction · GitHub

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# -*- coding: utf-8 -*-
import os
import Sofa

plugins=["SofaPython3","SoftRobots","ModelOrderReduction","STLIB",

         "Sofa.Component.Visual",
         "Sofa.Component.AnimationLoop",
         "Sofa.GL.Component.Rendering3D",
         "Sofa.Component.Constraint.Lagrangian.Solver",
         'Sofa.Component.IO.Mesh',
         'Sofa.Component.Playback',
         'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
         'Sofa.Component.Engine.Select', # Needed to use components [BoxROI]
         'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
         'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping]
         'Sofa.Component.Mass', # Needed to use components [UniformMass]
         'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver]
         'Sofa.Component.SolidMechanics.FEM.Elastic', # Needed to use components [TetrahedronFEMForceField]
         'Sofa.Component.SolidMechanics.Spring', # Needed to use components [RestShapeSpringsForceField]
         'Sofa.Component.StateContainer', # Needed to use components [MechanicalObject]
         'Sofa.Component.Topology.Container.Dynamic', # Needed to use components [TetrahedronSetTopologyContainer]
         'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
         'Sofa.Component.Topology.Container.Grid'] # Needed to use components [RegularGridTopology]


def createScene(rootNode):

    rootNode.findData('dt').value=0.02
    rootNode.findData('gravity').value=[0, -9810, 0]
    rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showForceFields')
    rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False)
    rootNode.addObject('DefaultAnimationLoop')

    M1 = rootNode.addChild('M1')
    M1.addObject('EulerImplicitSolver',rayleighStiffness=0.1, rayleighMass=0.1)
    M1.addObject('SparseLDLSolver',name='solver')
    M1.addObject('MechanicalObject', name='MO')
    M1.addObject('UniformMass', totalMass=0.1)
    M1.addObject('RegularGridTopology', nx=4, ny=4, nz=20, xmin=-9, xmax=-6, ymin=0, ymax=3, zmin=0, zmax=19)
    M1.addObject('BoxROI', name='ROI1', box='-9 -2 -1 -3 4 5', drawBoxes='true')

    M1.addObject('HexahedronFEMForceField', name='FEM', youngModulus=4000, poissonRatio=0.3, method='large')
    M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = 1e8)

    # Add a visual model
    visualModel = M1.addChild('visualModel')
    visualModel.addObject('OglModel', name='visu', color='green')
    visualModel.addObject('IdentityMapping', input='@..', output='@visu')

    # Add an actuator node compatible with doNothing animation function
    actuator = rootNode.addChild('actuator')
    actuator.addObject('MechanicalObject', name='actuatedState', template='Vec3d', position='@M1/MO.position')