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Add example scene using CCDTightInclusion (#559)
* Add example scene using CCDTightInclusion * Replace ProjectedGaussSeidel with BlockGaussSeidel * Fix scene error
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‎examples/CCDIntersection.py‎

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def main():
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# Required import for python
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import Sofa
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import SofaImGui
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root = Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.initRoot(root)
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for iteration in range(10):
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Sofa.Simulation.animate(root, root.dt.value)
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print(root.PlateMecha.Visual.BoxROI.trianglesInROI.value)
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def createScene(root_node):
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root_node.name = "root"
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root_node.dt = 0.1
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root_node.gravity = [-0.981, 0, 0]
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plugins = root_node.addChild('plugins')
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plugins.addObject('RequiredPlugin', name="MultiThreading")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
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plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
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plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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plugins.addObject('RequiredPlugin', name="Sofa.GUI.Component")
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root_node.addObject('VisualStyle', displayFlags="showVisual")
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root_node.addObject('ConstraintAttachButtonSetting')
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root_node.addObject('FreeMotionAnimationLoop', computeBoundingBox=False)
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root_node.addObject('BlockGaussSeidelConstraintSolver', maxIterations=1000, tolerance=1.0e-6)
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root_node.addObject('CollisionPipeline', name="Pipeline")
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root_node.addObject('ParallelBruteForceBroadPhase', name="BroadPhase")
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root_node.addObject('ParallelBVHNarrowPhase', name="NarrowPhase")
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root_node.addObject('CollisionResponse', name="ContactManager", response="FrictionContactConstraint", responseParams="mu=0.4")
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root_node.addObject('CCDTightInclusionIntersection', name="Intersection", continuousCollisionType="FreeMotion",maxIterations=1000, alarmDistance=0.0, contactDistance=0.0)
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# root_node.addObject('NewProximityIntersection', name="Intersection", alarmDistance="0.5", contactDistance="0.0")
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#Liver mecha
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Liver = root_node.addChild('Liver')
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Liver.addObject('EulerImplicitSolver')
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Liver.addObject('SparseLDLSolver', name="ldl", template="CompressedRowSparseMatrixMat3x3", parallelInverseProduct=True)
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Liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh", scale3d=[0.2, 0.2, 0.2], rotation=[0, 180, -45], translation=[15.2, -0.15, 0.14])
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Liver.addObject('TetrahedronSetTopologyContainer', name="Container", src='@meshLoader')
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Liver.addObject('TetrahedronSetTopologyModifier', name="Modifier")
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Liver.addObject('TetrahedronSetGeometryAlgorithms', name="Algorithms")
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Liver.addObject('MechanicalObject', name="mstate", template="Vec3d", position="@Container.position", velocity=[-5,0,0]*181)
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Liver.addObject('TetrahedronFEMForceField', name="forceField", listening=True, youngModulus=1e2, poissonRatio=0.3, method="large")
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Liver.addObject('MeshMatrixMass', totalMass=3)
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surface = Liver.addChild('Surface')
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surface.addObject('TriangleSetTopologyContainer', name="Container")
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surface.addObject('TriangleSetTopologyModifier', name="Modifier")
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surface.addObject('TriangleSetGeometryAlgorithms', name="Algorithms")
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surface.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals=False)
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surface.addObject('MechanicalObject', name="dofs", rest_position="@../mstate.rest_position")
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surface.addObject('PointCollisionModel', name="Collision", contactDistance=0.0001, color=[0.0, 0.93725490196078, 0.89411764705882, 1])
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surface.addObject('IdentityMapping', name="SurfaceMapping")
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visual = Liver.addChild('Visual')
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visual.addObject('TriangleSetTopologyContainer', name="Container")
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visual.addObject('TriangleSetTopologyModifier', name="Modifier")
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visual.addObject('TriangleSetGeometryAlgorithms', name="Algorithms")
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visual.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals=False)
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visual.addObject('OglModel', name="VisualModel", src="@Container", color=[0.5, 0, 0.125, 1])
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visual.addObject('IdentityMapping', name="SurfaceMapping")
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Liver.addObject('LinearSolverConstraintCorrection', linearSolver="@ldl")
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#Plate topology
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PlateTopo = root_node.addChild('BeamDomainFromGridTopology')
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PlateTopo.addObject('RegularGridTopology', name="HexaTop", n=[3, 10, 10], min=[-0.3, -1.5, -1.5], max=[0.3, 1.5, 1.5])
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tetra_topology = PlateTopo.addChild('TetraTopology')
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tetra_topology.addObject('TetrahedronSetTopologyContainer', name="Container", position="@HexaTop.position")
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tetra_topology.addObject('TetrahedronSetTopologyModifier', name="Modifier")
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tetra_topology.addObject('Hexa2TetraTopologicalMapping', input="@HexaTop", output="@Container", swapping=True)
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#Plate mecha
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PlateMecha = root_node.addChild('PlateMecha')
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PlateMecha.addObject('EulerImplicitSolver')
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PlateMecha.addObject('SparseLDLSolver', name="ldl", template="CompressedRowSparseMatrixMat3x3", parallelInverseProduct=True)
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PlateMecha.addObject('TetrahedronSetTopologyContainer', name="Container", position="@../BeamDomainFromGridTopology/HexaTop.position", tetrahedra="@../BeamDomainFromGridTopology/TetraTopology/Container.tetrahedra")
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PlateMecha.addObject('TetrahedronSetTopologyModifier', name="Modifier")
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PlateMecha.addObject('TetrahedronSetGeometryAlgorithms', name="Algorithms")
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PlateMecha.addObject('MechanicalObject', name="mstate", template="Vec3d", position="@Container.position", velocity=[15,0,0]*300)
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PlateMecha.addObject('TetrahedronFEMForceField', name="forceField", listening=True, youngModulus=2e3, poissonRatio=0.3, method="large")
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PlateMecha.addObject('MeshMatrixMass', totalMass=2)
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visual = PlateMecha.addChild('Visual')
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visual.addObject('TriangleSetTopologyContainer', name="Container")
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visual.addObject('TriangleSetTopologyModifier', name="Modifier")
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visual.addObject('TriangleSetGeometryAlgorithms', name="Algorithms")
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visual.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals=False)
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visual.addObject('BoxROI', name="FrontCollisionTriangles", box=[0.25, 1.6, 1.6, 0.35, -1.6, -1.6])
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visual.addObject('BoxROI', name="BackCollisionTriangles", box=[-0.35, 1.6, 1.6, -0.25, -1.6, -1.6])
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visual.addObject('OglModel', name="VisualModel", src="@Container" , color=[0.6, 1, 1, 1])
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visual.addObject('IdentityMapping', name="SurfaceMapping")
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surface = PlateMecha.addChild('FrontSurface')
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surface.addObject('TriangleSetTopologyContainer',triangles="@../Visual/FrontCollisionTriangles.trianglesInROI")
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surface.addObject('TriangleSetTopologyModifier', name="Modifier")
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surface.addObject('TriangleSetGeometryAlgorithms', name="Algorithms")
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surface.addObject('MechanicalObject', name="dofs", rest_position="@../mstate.rest_position")
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surface.addObject('TriangleCollisionModel', name="Collision",group=1, contactDistance=0.000001, color=[0.94117647058824, 0.93725490196078, 0.89411764705882, 1])
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surface.addObject('IdentityMapping', name="SurfaceMapping")
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surface = PlateMecha.addChild('BackCollisionEdges')
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surface.addObject('TriangleSetTopologyContainer',triangles="@../Visual/BackCollisionTriangles.trianglesInROI")
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surface.addObject('TriangleSetTopologyModifier', name="Modifier")
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surface.addObject('TriangleSetGeometryAlgorithms', name="Algorithms")
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surface.addObject('MechanicalObject', name="dofs", rest_position="@../mstate.rest_position")
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surface.addObject('PointCollisionModel', name="Collision", group=1, contactDistance=0.000001, color=[0.94117647058824, 0.93725490196078, 0.89411764705882, 1])
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surface.addObject('IdentityMapping', name="SurfaceMapping")
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PlateMecha.addObject('LinearSolverConstraintCorrection', linearSolver="@ldl")
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#Ground
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Ground = root_node.addChild('Ground')
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Ground.addObject('TriangleSetTopologyContainer', name="FloorTopology", position="-5 -15 -15 -5 -15 15 -5 15 15 -5 15 -15", triangles="0 2 1 0 3 2")
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Ground.addObject('MechanicalObject', name="FloorDOF", template="Vec3d")
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Ground.addObject('TriangleCollisionModel', name="FloorCM", contactDistance="0.0001", moving="0", simulated="0", color="0.3 0.3 0.3 0.1")
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visu = Ground.addChild('Visu')
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visu.addObject('OglModel', name="VisualModel", src="@../FloorTopology")
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if __name__ == "__main__":
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main()

‎examples/CCDIntersection.py.view‎

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<?xml version="1.0" encoding="UTF-8"?>
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<Camera version="1.0">
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<!--Vector of 3 reals (x, y, z)-->
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<position value="11.249 0.125825 -29.8438"/>
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<!--Quaternion (x, y, z, w)-->
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<orientation value="-0.715256 -0.689219 -0.0200755 -0.113945"/>
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<!--Real-->
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<fieldOfView value="45"/>
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<!--Real-->
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<distance value="31.7555"/>
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<!--Real-->
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<zNear value="1.18772"/>
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<!--Real-->
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<zFar value="59.523"/>
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<!--Int (0 -> Perspective, 1 -> Orthographic)-->
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<projectionType value="Perspective"/>
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</Camera>

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