[SofaCarving] Add an example written in python

applications/plugins/SofaCarving/examples/SimpleCarving.py

@@ -0,0 +1,100 @@
+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, 0, 0]
+    root.dt=0.05
+    root.showBoundingTree = 0
+    root.addObject('RequiredPlugin', name="plug1", pluginName="Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact")
+    root.addObject('RequiredPlugin', name="plug2", pluginName="Sofa.Component.Constraint.Projective Sofa.Component.LinearSolver.Iterative Sofa.Component.ODESolver.Backward")
+    root.addObject('RequiredPlugin', name="plug3", pluginName="Sofa.Component.Engine.Select Sofa.Component.IO.Mesh Sofa.Component.Mass ")
+    root.addObject('RequiredPlugin', name="plug4", pluginName="Sofa.Component.Mapping.Linear Sofa.Component.Mapping.NonLinear Sofa.Component.SolidMechanics.FEM.Elastic Sofa.Component.StateContainer")
+    root.addObject('RequiredPlugin', name="plug5", pluginName="Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Mapping")
+    root.addObject('RequiredPlugin', name="plug6", pluginName="Sofa.Component.Visual Sofa.GL.Component.Rendering3D")
+    root.addObject('RequiredPlugin', name="plug7", pluginName="Sofa.Component.Collision.Detection.Algorithm SofaCarving")
+
+    root.addObject('VisualStyle',displayFlags="")
+    root.addObject('DefaultAnimationLoop')
+    root.addObject('DefaultPipeline',verbose="0")
+    root.addObject('BruteForceBroadPhase')
+    root.addObject('BVHNarrowPhase')
+    root.addObject('DefaultContactManager',response="PenalityContactForceField")
+    root.addObject('MinProximityIntersection',name="Proximity",alarmDistance="0.08",contactDistance="0.05",useSurfaceNormals="false")
+    root.addObject('CarvingManager',active="true",carvingDistance="-0.01")
+
+
+
+    TT = root.addChild('TT')
+
+    TT.addObject('EulerImplicitSolver',name="cg_odesolver",printLog="false",rayleighStiffness="0.1",rayleighMass="0.1")
+    TT.addObject('CGLinearSolver',iterations="25",name="linear solver",tolerance="1.0e-9",threshold="1.0e-9")
+    TT.addObject('MeshGmshLoader',filename="mesh/liver.msh",name="loader",scale="1")   
+
+    TT.addObject('MechanicalObject',template="Vec3d",src="@loader",name="Volume")
+
+    TT.addObject('TetrahedronSetTopologyContainer', name="topo", src="@loader")
+    TT.addObject('TetrahedronSetTopologyModifier', name="topoMod")
+    TT.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
+
+    TT.addObject('DiagonalMass',massDensity="0.5")
+    TT.addObject('FixedConstraint',indices="1 3 50")
+    TT.addObject('TetrahedralCorotationalFEMForceField',name="CFEM",youngModulus="160",poissonRatio="0.3",method="large")
+
+    T=TT.addChild('T')    
+    T.addObject('TriangleSetTopologyContainer', name="Container")
+    T.addObject('TriangleSetTopologyModifier', name="Modifier")
+    T.addObject('TriangleSetGeometryAlgorithms',name="GeomAlgo",template="Vec3d")
+    T.addObject('Tetra2TriangleTopologicalMapping', input="@../topo", output="@Container")
+
+    T.addObject('TriangleCollisionModel', tags="CarvingSurface")
+
+    Visu = T.addChild('Visu')
+    Visu.addObject('OglModel',name="Visual",material="Default Diffuse 1 0 1 0 1 Ambient 0 1 1 1 1 Specular 1 1 1 0 1 Emissive 0 1 1 0 1 Shininess 1 100")
+    Visu.addObject('IdentityMapping',input="@Volume",output="@Visual")
+
+
+    Instrument = root.addChild('Instrument')
+    Instrument.addObject('EulerImplicitSolver',name="cg_odesolver",printLog="false")
+    Instrument.addObject('CGLinearSolver',iterations="25",name="linear solver",tolerance="1.0e-9",threshold="1.0e-9")
+    Instrument.addObject('MechanicalObject',template="Rigid3d",name="instrumentState",tags="Omni",rotation="90 45 0",translation="0 0 1")
+    Instrument.addObject('UniformMass',template="Rigid3d",name="mass",totalMass="5")
+    visuIns = Instrument.addChild('visuIns')
+    visuIns.addObject('MeshOBJLoader',name="meshLoader_0",filename="mesh/dental_instrument_light.obj",scale3d="1 1 1",translation="-0.412256 -0.067639 3.35",rotation="180 0 150",handleSeams="1")
+    visuIns.addObject('OglModel',template="Vec3d",name="InstrumentVisualModel",src="@meshLoader_0",material="Default Diffuse 1 1 0.2 0.2 1 Ambient 1 0.2 0.04 0.04 1 Specular 0 1 0.2 0.2 1 Emissive 0 1 0.2 0.2 1 Shininess 0 45")
+    visuIns.addObject('RigidMapping',template="Rigid3d,Vec3d",name="MM->VM mapping",input="@instrumentState",output="@InstrumentVisualModel")
+
+    colIns = Instrument.addChild('colIns')
+    colIns.addObject('MechanicalObject',template="Vec3d",name="Particle",position="-0.2 -0.2 -0.2")
+    colIns.addObject('SphereCollisionModel',name="ParticleModel",radius="0.2",tags="CarvingTool")
+    #colIns.addObject('SphereCollisionModel',name="ParticleModel",radius="0.2")
+    colIns.addObject('RigidMapping',template="Rigid3d,Vec3d",name="MM->CM mapping",input="@instrumentState",output="@Particle")
+
+    return root
+
+
+#Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()