Fix plane and some splib deprecated components

Author: bakpaul

examples/stlib/SofaScene.py

@@ -1,41 +1,48 @@
 from stlib.geometries.plane import PlaneParameters
 from stlib.collision import CollisionParameters
 from stlib.collision import Collision
+from stlib.visual import Visual
 from splib.core.enum_types import CollisionPrimitive
+from splib.simulation.headers import setupLagrangianCollision
 import dataclasses
 import numpy as np
 
 
 
 def createScene(root):
     ##Solvers
-
-
+    setupLagrangianCollision(root, displayFlags = "showVisualModels",backgroundColor=[0.8, 0.8, 0.8, 1],
+                             parallelComputing = True,alarmDistance=0.3, contactDistance=0.02,
+                             frictionCoef=0.5, tolerance=1.0e-4, maxIterations=20)
 
     ##Environement
-
-    planes_lengthNormal = np.array([])
-    planes_length = 1
-    planes_width = 1
-    planes_nbEdgeLength = 1
-    planes_nbEdgeWidth = 1
+    planes_lengthNormal = np.array([0, 1, 0])
+    planes_lengthNbEdge = 1
+    planes_widthNbEdge = 2
+    planes_lengthSize = 30
+    planes_widthSize = 70
 
     plane1_collisionParams = CollisionParameters()
     plane1_collisionParams.name = "UP"
     plane1_collisionParams.primitives = [CollisionPrimitive.TRIANGLES]
     plane1_collisionParams.kwargs = {"TriangleCollision" : {"moving" : False, "simulated" : False}}
-    plane1_collisionParams.geometry = PlaneParameters(np.array([0,0,0]), np.array([0,0,-1]),
-                                                      planes_lengthNormal, planes_length, planes_width, planes_nbEdgeLength, planes_nbEdgeWidth)
-    root.add(Collision, plane1_collisionParams)
+    plane1_collisionParams.geometry = PlaneParameters(np.array([15,0,1]), np.array([0,0,-1]),
+                                                      planes_lengthNormal, planes_lengthNbEdge, planes_widthNbEdge, planes_lengthSize, planes_widthSize)
+    plane1 = root.add(Collision, parameters = plane1_collisionParams)
+    #TODO being able to reuse already loaded geometry of current prefab to add any new sub prefab
+    plane1_visu = plane1.addChild("Visu")
+    plane1_visu.addObject("OglModel", name="VisualModel", src="@../Geometry/container")
 
 
     plane2_collisionParams = CollisionParameters()
     plane2_collisionParams.name = "DOWN"
     plane2_collisionParams.primitives = [CollisionPrimitive.TRIANGLES]
     plane2_collisionParams.kwargs = {"TriangleCollision" : {"moving" : False, "simulated" : False}}
-    plane2_collisionParams.geometry = PlaneParameters(np.array([0,0,0]), np.array([0,0,1]),
-                                                      planes_lengthNormal, planes_length, planes_width, planes_nbEdgeLength, planes_nbEdgeWidth)
-    root.add(Collision, plane2_collisionParams)
+    plane2_collisionParams.geometry = PlaneParameters(np.array([15,0,-20]), np.array([0,0,1]),
+                                                      planes_lengthNormal, planes_lengthNbEdge, planes_widthNbEdge, planes_lengthSize, planes_widthSize)
+    plane2 = root.add(Collision, parameters = plane2_collisionParams)
+    plane2_visu = plane2.addChild("Visu")
+    plane2_visu.addObject("OglModel", name="VisualModel", src="@../Geometry/container")
 
 
     ## Real models

splib/simulation/headers.py

@@ -122,7 +122,7 @@ def setupLagrangianCollision(node,  displayFlags = "showVisualModels",background
         node.addObject('CollisionResponse',name="ContactManager", response="FrictionContactConstraint", responseParams="mu="+str(frictionCoef),**kwargs)
 
     node.addObject('NewProximityIntersection' ,name="Distance", alarmDistance=alarmDistance, contactDistance=contactDistance, **kwargs)
-    node.addObject('GenericConstraintSolver',name="ConstraintSolver", tolerance=tolerance, maxIterations=maxIterations, multithreading=parallelComputing,**kwargs)
+    node.addObject('ProjectedGaussSeidelConstraintSolver',name="ConstraintSolver", tolerance=tolerance, maxIterations=maxIterations, multithreading=parallelComputing,**kwargs)
     node.addObject("ConstraintAttachButtonSetting")
 
     return node

stlib/collision.py

@@ -27,7 +27,7 @@ def __init__(self, parameters: CollisionParameters):
 
     def init(self):
 
-        geom = self.add(Geometry, self.parameters.geometry)
+        geom = self.add(Geometry, parameters = self.parameters.geometry)
 
         self.addObject("MechanicalObject", template="Vec3", position=f"@{self.parameters.geometry.name}/container.position")
         for primitive in self.parameters.primitives:

stlib/geometries/__geometry__.py

@@ -54,7 +54,7 @@ def __init__(self, parameters: GeometryParameters):
     def init(self):
 
         # Generate attribute (positions, edges, triangles, quads, tetrahedra, hexahedra) from the internal data provider
-        if self.parameters.data is not None :
+        if isinstance(self.parameters.data, InternalDataProvider) :
             self.parameters.data.generateAttribute(self)
         if self.parameters.dynamicTopology :
             if self.parameters.elementType is not None :

stlib/geometries/plane.py

@@ -1,27 +1,45 @@
-from stlib.geometries import GeometryParameters, InternalDataProvider
+from stlib.geometries import GeometryParameters, InternalDataProvider, Geometry
 import dataclasses
 import numpy as np
 
 @dataclasses.dataclass
 class PlaneDataProvider(InternalDataProvider):
-    center : np.ndarray[float]
-    normal : np.ndarray[float]
-    lengthNormal : np.ndarray[float]
-    nbEdgeLength : int
-    nbEdgeWidth : int
-    width : float
-    edgeSize : float
+    center : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([0,0,0]))
+    normal : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([0,0,1]))
+    lengthNormal : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([1,0,0]))
+    lengthNbEdge : int = 1
+    widthNbEdge : int = 1
+    lengthSize : float = 1.0
+    widthSize : float = 1.0
 
     def __post_init__(self, **kwargs):
         InternalDataProvider.__init__(self,**kwargs)
 
-    def generateAttribute(self):
-        #TODO
-        pass
+    def generateAttribute(self, parent : Geometry):
+
+        lengthEdgeSize = self.lengthSize / self.lengthNbEdge
+        widthEdgeSize = self.widthSize / self.widthNbEdge
+
+        self.widthNormal = np.cross(self.normal,self.lengthNormal)
+        bottomLeftCorner = self.center - self.lengthNormal * self.lengthNbEdge * lengthEdgeSize / 2 - self.widthNormal * self.widthNbEdge * widthEdgeSize / 2
+
+        self.position = np.array([[ bottomLeftCorner + j * self.widthNormal * widthEdgeSize + i * self.lengthNormal * lengthEdgeSize   for j in range(self.widthNbEdge + 1) ] for i in range(self.lengthNbEdge + 1)])
+
+        self.triangles = np.empty((2 * self.widthNbEdge * self.lengthNbEdge, 3), dtype = int)
+        for i in range(self.lengthNbEdge):
+            for j in range(self.widthNbEdge):
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 0] = j     + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 1] = j     + (i+1) * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 2] = j + 1 + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 0] = j + 1 + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 1] = j     + (i+1) * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 2] = j + 1 + (i+1) * (self.widthNbEdge + 1)
+
+
 
 
 class PlaneParameters(GeometryParameters):
 
-    def __init__(self,  center, normal, lengthNormal, length, width, nbEdgeLength, nbEdgeWidth, dynamicTopology = False):
-        GeometryParameters.__init__(data = PlaneDataProvider(center=center, normal=normal, lengthNormal=lengthNormal, length=length, width=width, nbEdgeLength=nbEdgeLength, nbEdgeWidth=nbEdgeWidth),
+    def __init__(self,  center, normal, lengthNormal, lengthNbEdge, widthNbEdge, lengthSize, widthSize, dynamicTopology = False):
+        GeometryParameters.__init__(self, data = PlaneDataProvider(center=center, normal=normal, lengthNormal=lengthNormal, lengthNbEdge=lengthNbEdge, widthNbEdge=widthNbEdge, lengthSize=lengthSize, widthSize=widthSize),
                                     dynamicTopology = dynamicTopology)