[example] Add a new interactive scene, creating objects (#146)

* [example] Add a new interactive scene, creating objects

* Take review into account

Author: hugtalbot

examples/liver-scriptcontroller.py

@@ -0,0 +1,99 @@
+# Required import for python
+import Sofa
+
+
+# Choose in your script to activate or not the GUI
+USE_GUI = True
+
+
+def main():
+    import SofaRuntime
+    import Sofa.Gui
+
+    root = Sofa.Core.Node("root")
+    createScene(root)
+    Sofa.Simulation.init(root)
+
+    if not USE_GUI:
+        for iteration in range(10):
+            Sofa.Simulation.animate(root, root.dt.value)
+    else:
+        Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+        Sofa.Gui.GUIManager.createGUI(root, __file__)
+        Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+        Sofa.Gui.GUIManager.MainLoop(root)
+        Sofa.Gui.GUIManager.closeGUI()
+
+
+def createScene(root):
+    root.gravity=[0, -9.81, 0]
+    root.dt=0.02
+
+    root.addObject('DefaultVisualManagerLoop')
+    root.addObject('DefaultAnimationLoop')
+
+    root.addObject('VisualStyle', displayFlags="showCollisionModels hideVisualModels showForceFields")
+    root.addObject('RequiredPlugin', pluginName="SofaImplicitOdeSolver SofaLoader SofaOpenglVisual SofaBoundaryCondition SofaGeneralLoader SofaGeneralSimpleFem") 
+    root.addObject('DefaultPipeline', name="CollisionPipeline")
+    root.addObject('BruteForceDetection', name="N2")
+    root.addObject('DefaultContactManager', name="CollisionResponse", response="default")
+    root.addObject('DiscreteIntersection')
+
+    root.addObject('MeshObjLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")
+
+    liver = root.addChild('Liver')
+    liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness=0.1, rayleighMass=0.1)
+    liver.addObject('CGLinearSolver', name="linear_solver", iterations=25, tolerance=1e-09, threshold=1e-09)
+    liver.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/liver.msh")
+    liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@meshLoader")
+    liver.addObject('MechanicalObject', name="dofs", src="@meshLoader")
+    liver.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
+    liver.addObject('DiagonalMass', name="Mass", massDensity=1.0)
+    liver.addObject('TetrahedralCorotationalFEMForceField', template="Vec3d", name="FEM", method="large", poissonRatio=0.3, youngModulus=3000, computeGlobalMatrix=False)
+    liver.addObject('FixedConstraint', name="FixedConstraint", indices="3 39 64")
+
+    visu = liver.addChild('Visu')
+    visu.addObject('OglModel', name="VisualModel", src="@../../LiverSurface")
+    visu.addObject('BarycentricMapping', name="VisualMapping", input="@../dofs", output="@VisualModel")
+
+    surf = liver.addChild('Surf')
+    surf.addObject('SphereLoader', name="sphereLoader", filename="mesh/liver.sph")
+    surf.addObject('MechanicalObject', name="spheres", position="@sphereLoader.position")
+    surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@sphereLoader.listRadius")
+    surf.addObject('BarycentricMapping', name="CollisionMapping", input="@../dofs", output="@spheres")
+
+    root.addObject(KeyPressedController(name = "SphereCreator"))
+
+    return root
+
+
+class KeyPressedController(Sofa.Core.Controller):
+    """ This controller monitors new sphere objects.
+    Press ctrl and the L key to make spheres falling!
+    """
+    def __init__(self, *args, **kwargs):
+        Sofa.Core.Controller.__init__(self, *args, **kwargs)
+        self.iteration = 0
+
+    def onKeypressedEvent(self, event):
+        # Press L key triggers the creation of new objects in the scene
+        if event['key']=='L':
+            self.createNewSphere()
+            
+    def createNewSphere(self):
+        root = self.getContext()
+        newSphere = root.addChild('FallingSphere-'+str(self.iteration))
+        newSphere.addObject('EulerImplicitSolver')
+        newSphere.addObject('CGLinearSolver', threshold='1e-09', tolerance='1e-09', iterations='200')
+        MO = newSphere.addObject('MechanicalObject', showObject=True, position=[-2, 10+self.iteration, 0, 0, 0, 0, 1], name=f'Particle-{self.iteration}', template='Rigid3d')
+        Mass = newSphere.addObject('UniformMass', totalMass=1)
+        Force = newSphere.addObject('ConstantForceField', name="CFF", totalForce=[0, -1, 0, 0, 0, 0] )
+        Sphere = newSphere.addObject('SphereCollisionModel', name="SCM", radius=1.0 )
+        
+        newSphere.init()
+        self.iteration = self.iteration+1
+
+
+# Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()