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Merged
hugtalbot merged 10 commits into from
Jan 22, 2025
Merged

[examples] Add proposition for a new default scene #5177

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90dd50e
Add way to fetch and build external plugin by default
bakpaul Dec 20, 2024
2056a7e
Fetch and build BeamAdapter by default
bakpaul Dec 20, 2024
00fd26a
Add new DefaultScene
bakpaul Dec 20, 2024
0cd50dd
Add default view
bakpaul Dec 20, 2024
8b79340
Change runSofa default scene
bakpaul Dec 20, 2024
1ab71ed
Remove file that shoudn t have been added
bakpaul Dec 20, 2024
8770b4c
Revert changes leading to set the scene as the default scene
bakpaul Jan 16, 2025
81f1af5
Renamed because now it is not the default scene anymore
bakpaul Jan 16, 2025
321cc94
Merge branch 'master' into 24_12_change_default_sofa_scene
bakpaul Jan 22, 2025
b8f8c5a
Add regression test
bakpaul Jan 22, 2025
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8 changes: 7 additions & 1 deletion Sofa/framework/Config/cmake/SofaMacrosConfigure.cmake
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Expand Up @@ -294,7 +294,13 @@ macro(sofa_add_subdirectory type directory name)
endif()

set(default_value OFF)
if(${ARGV3})
if(ARG_EXTERNAL)
set(input_value ${ARGV6})
else()
set(input_value ${ARGV3})
endif ()

if(${input_value})
set(default_value ON)
endif()

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2 changes: 1 addition & 1 deletion applications/plugins/CMakeLists.txt
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Expand Up @@ -42,7 +42,7 @@ sofa_add_subdirectory(plugin LeapMotion LeapMotion)
sofa_add_subdirectory(plugin Geomagic Geomagic)
sofa_add_subdirectory(plugin SofaAssimp SofaAssimp) # ColladaSceneLoader Depends on Flexible and image
sofa_add_subdirectory(plugin SofaMatrix SofaMatrix ON) # Depends on image, CImgPlugin
sofa_add_subdirectory(plugin BeamAdapter BeamAdapter EXTERNAL GIT_REF master)
sofa_add_subdirectory(plugin BeamAdapter BeamAdapter EXTERNAL GIT_REF master ON)
sofa_add_subdirectory(plugin STLIB STLIB EXTERNAL GIT_REF master)
sofa_add_subdirectory(plugin SoftRobots SoftRobots EXTERNAL GIT_REF master)
sofa_add_subdirectory(plugin Cosserat Cosserat EXTERNAL GIT_REF master) # Cosserat has an optional dependency on SoftRobots
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2 changes: 1 addition & 1 deletion applications/projects/runSofa/Main.cpp
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Expand Up @@ -452,7 +452,7 @@ int main(int argc, char** argv)
mrulist.close();
}
else
fileName = "Demos/caduceus.scn";
fileName = "Demos/SofaDefaultScene.scn";

fileName = DataRepository.getFile(fileName);
}
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242 changes: 242 additions & 0 deletions examples/Demos/SofaDefaultScene.scn
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@@ -0,0 +1,242 @@
<?xml version="1.0"?>

<Node name="root" dt="0.01" gravity="0 0 9.81" >
<!-- Loading the dynamic libraries required for this scene -->
<RequiredPlugin name="PluginManager"
pluginName="Sofa.Component.IO.Mesh Sofa.Component.LinearSolver.Direct Sofa.Component.LinearSolver.Iterative
Sofa.Component.Mapping.Linear Sofa.Component.Mass Sofa.Component.ODESolver.Backward Sofa.Component.Setting
Sofa.Component.SolidMechanics.FEM.Elastic Sofa.Component.StateContainer Sofa.Component.Topology.Container.Dynamic
Sofa.Component.Visual Sofa.GL.Component.Rendering3D Sofa.Component.AnimationLoop Sofa.Component.Collision.Detection.Algorithm
Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact
Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.LinearSystem
Sofa.Component.MechanicalLoad MultiThreading Sofa.Component.SolidMechanics.Spring Sofa.Component.Constraint.Lagrangian.Model
Sofa.Component.Mapping.NonLinear Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Mapping BeamAdapter Sofa.GUI.Component
Sofa.Component.Topology.Container.Grid Sofa.Component.Engine.Select" />

<!-- Rendering settings -->
<VisualStyle name="RenderingOptions" displayFlags="showVisualModels" />
<BackgroundSetting color="0.8 0.8 0.8 1" />

<!-- Define Mouse left click as a Bilateral Lagrangian constraint -->
<ConstraintAttachButtonSetting /> <!-- The presence of this component sets the mouse interaction to Lagrangian-based constraints at the GUI launch -->
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@alxbilger alxbilger Dec 20, 2024

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This has not been tested on imgui. I guess this is why it does not work. A work has been started to support all kind of interactions: sofa-framework/SofaGLFW#129


<!-- Header of the simulation -->
<FreeMotionAnimationLoop name="FreeMotionAnimationLoop" parallelODESolving="true" parallelCollisionDetectionAndFreeMotion="true"/>
<GenericConstraintSolver maxIterations="20" multithreading='true' tolerance="1.0e-4"/>

<!-- Definition of the collision pipeline -->
<CollisionPipeline name="CollisionPipeline" />
<ParallelBruteForceBroadPhase name="CollisionBroadPhase"/>
<ParallelBVHNarrowPhase name="CollisionNarrowPhase"/>
<CollisionResponse name="CollisionResponse" response="FrictionContactConstraint" responseParams="mu=0.5" />
<NewProximityIntersection name="Intersection" alarmDistance="0.3" contactDistance="0.02" />


<!-- Object = SOFA Logo -->
<Node name="Logo" >
<EulerImplicitSolver name="EulerImplicitScheme" />
<ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A" printLog="false"/>
<EigenSimplicialLDLT name="LDLTLinearSolver" template="CompressedRowSparseMatrixd" parallelInverseProduct="true" linearSystem="@A"/>

<MeshVTKLoader name="LogoLoader" filename="mesh/DefaultScene/Logo.vtk" />
<TetrahedronSetTopologyContainer name="Container" src="@LogoLoader" />
<TetrahedronSetTopologyModifier name="Modifier"/>
<MechanicalObject name="LogoDOF" template="Vec3d" />
<TetrahedronFEMForceField name="LinearElasticityFEM" youngModulus="200" poissonRatio="0.4" method="large" />
<ConstantForceField name="ConstantForceUpwards" totalForce="0 0 -5.0" />
<MeshMatrixMass name="Mass" totalMass="0.1" />

<Node name="Collision">
<SphereLoader name="SphereLoader" filename="mesh/DefaultScene/LogoColli.sph" />
<MechanicalObject name="CollisionDOF" position="@SphereLoader.position" />
<SphereCollisionModel name="CollisionModel" listRadius="@SphereLoader.listRadius"/>
<BarycentricMapping name="MappingCollision" input="@../LogoDOF" output="@CollisionDOF"/>
</Node>

<Node name="Visu">
<MeshOBJLoader name="SurfaceLoader" filename="mesh/DefaultScene/LogoVisu.obj"/>
<OglModel name="VisualModel" color="0.7 .35 0 0.8" position="@SurfaceLoader.position" triangles="@SurfaceLoader.triangles" />
<BarycentricMapping name="MappingVisu" isMechanical="false" input="@../LogoDOF" output="@VisualModel" />
</Node>

<Node name="AttachmentPoint">
<MechanicalObject name="Points" template="Vec3" position="12 0 -9" />
<BarycentricMapping name="MappingAttachmentPoint" input="@../LogoDOF" output="@Points" />
</Node>

<LinearSolverConstraintCorrection name="ConstraintCorrection" linearSolver="@LDLTLinearSolver"/>
</Node>


<!-- Object = beam connecting the SOFA logo and the S letter -->
<Node name="BeamModel">
<EulerImplicitSolver name="EulerImplicitScheme" printLog="false" />
<EigenSparseLU name="LULinearSolver" template="CompressedRowSparseMatrixd" />

<MechanicalObject template="Rigid3d" name="BeamDOF" position="12 0 -9 0.707 0 0.707 0
12 0 -8 0.707 0 0.707 0
12 0 -7 0.707 0 0.707 0
12 0 -6 0.707 0 0.707 0
12 0 -5.5 0.707 0 0.707 0" />
<MeshTopology name="LineTopology" position="@BeamDOF.position" lines="0 1 1 2 2 3 3 4 " drawEdges="1"/>
<BeamInterpolation name="BeamInterpolation" radius="0.1" defaultYoungModulus="10000 10000 10000" defaultPoissonRatio="0.4"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceFieldAndMass" computeMass="1" massDensity="1"/>

<Node name="BeamExtremities">
<MechanicalObject name="Points" template="Vec3" position="12 0 -9 12 0 -5.5 " />
<RigidMapping name="MappingBeamExtremities" globalToLocalCoords="true" rigidIndexPerPoint="0 4" />
</Node>

<LinearSolverConstraintCorrection name="ConstraintCorrection" linearSolver="@LULinearSolver"/>
</Node>


<!-- Object = S letter as a 3D deformable object -->
<Node name="S" >
<EulerImplicitSolver name="EulerImplicitScheme" rayleighMass="0.1" rayleighStiffness="0.1" />
<ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A" printLog="false"/>
<EigenSimplicialLDLT name="LDLLinearSolver" template="CompressedRowSparseMatrixd" parallelInverseProduct="true" linearSystem="@A"/>

<MeshVTKLoader name="SLoader" filename="mesh/DefaultScene/S.vtk" />
<TetrahedronSetTopologyContainer name="Container" src="@SLoader" />
<TetrahedronSetTopologyModifier name="Modifier"/>
<MechanicalObject name="SDOF" template="Vec3d" />
<TetrahedronFEMForceField name="LinearElasticityFEM" youngModulus="200" poissonRatio="0.45" method="large" />
<MeshMatrixMass name="Mass" totalMass="0.15" />

<Node name="Collision">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier"/>
<Tetra2TriangleTopologicalMapping name="MappingExtractingSurface" input="@../Container" output="@Container" />

<MechanicalObject name="CollisionDOF" rest_position="@../SDOF.rest_position" />
<TriangleCollisionModel name="CollisionModel" proximity="0.02" />
<IdentityMapping name="MappingCollision" input="@../SDOF" output="@CollisionDOF"/>
</Node>

<Node name="Visu">
<MeshOBJLoader name="SurfaceLoader" filename="mesh/DefaultScene/SVisu.obj"/>
<OglModel name="VisualModel" color="0.7 0.7 0.7 0.8" position="@SurfaceLoader.position" triangles="@SurfaceLoader.triangles" />
<BarycentricMapping name="MappingVisu" input="@../SDOF" output="@VisualModel" isMechanical="false" />
</Node>

<Node name="AttachmentPoint">
<MechanicalObject name="Points" template="Vec3" position="12 0 -5.5" />
<BarycentricMapping name="MappingAttachmentPoint" input="@../SDOF" output="@Points" />
</Node>

<LinearSolverConstraintCorrection name="ConstraintCorrection" linearSolver="@LDLLinearSolver"/>
</Node>


<!-- Connect the two beam extremities with the SOFA logo and the S letter -->
<BilateralLagrangianConstraint template="Vec3" object1="@Logo/AttachmentPoint/Points" object2="@BeamModel/BeamExtremities/Points" first_point="0" second_point="0" />
<BilateralLagrangianConstraint template="Vec3" object1="@S/AttachmentPoint/Points" object2="@BeamModel/BeamExtremities/Points" first_point="0" second_point="1" />


<!-- Object = O letter as a 3D deformable object (FEM grid) -->
<Node name="O" >
<MeshOBJLoader name="OLoader" filename="mesh/DefaultScene/O.obj"/>

<SparseGridRamificationTopology name="SparseGrid" n="4 2 4" position="@OLoader.position" nbVirtualFinerLevels="2" finestConnectivity="0"/>
<HexahedronSetTopologyContainer name="HexaTopology" src="@SparseGrid"/>

<EulerImplicitSolver name="EulerImplicitScheme" />
<ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A" printLog="false"/>
<EigenSimplicialLDLT name="precond" template="CompressedRowSparseMatrixd" parallelInverseProduct="true" linearSystem="@A"/>

<MechanicalObject name="ODOF" position="@HexaTopology.position" />
<UniformMass name="Mass" totalMass="0.1" />
<HexahedronFEMForceField name="LinearElasticityFEM" youngModulus="20" poissonRatio="0.49" method="large" updateStiffnessMatrix="false" printLog="0" />
<UncoupledConstraintCorrection name="UncoupledConstraintCorrection" defaultCompliance="38240" useOdeSolverIntegrationFactors="0"/>

<Node name="Collision">
<MeshTopology name="CollisionTopology" src="@../OLoader"/>
<MechanicalObject name="CollisionDOF" src="@CollisionTopology" />
<LineCollisionModel name="LineCollisionModel" selfCollision="0" topology="@CollisionTopology" />
<BarycentricMapping name="MappingCollision" input="@../ODOF" output="@CollisionDOF" />
</Node>

<Node name="Visu" >
<OglModel name="VisualModel" src="@../OLoader" color="white" />
<BarycentricMapping name="MappingVisu" input="@../ODOF" output="@VisualModel" />
</Node>
</Node>


<!-- Object = F letter as a rigid frame -->
<Node name="F" >
<EulerImplicitSolver name="EulerImplicitScheme" />
<EigenSimplicialLDLT name="LDLLinearSolver" template="CompressedRowSparseMatrixd" />
<MechanicalObject name="FDOF" template="Rigid3d" position="23.15 0 -2.7 0 0 0 1"/>
<UniformMass name="Mass" totalMass="0.1" />

<Node name="Collision">
<MeshOBJLoader name="SkeletonLoader" filename="mesh/DefaultScene/FSkel.obj"/>
<TriangleSetTopologyContainer name="Container" src="@SkeletonLoader"/>
<TriangleSetTopologyModifier name="Modifier"/>

<MechanicalObject name="CollisionDOF" src="@SkeletonLoader" template="Vec3d" />
<LineCollisionModel name="CenterLineCollisionModel" proximity="0.5" />
<RigidMapping name="MappingCollision" input="@../FDOF" output="@CollisionDOF" globalToLocalCoords="true"/>
</Node>

<Node name="Visu">
<MeshOBJLoader name="SurfaceLoader" filename="mesh/DefaultScene/FVisu.obj"/>
<OglModel name="VisualModel" color="0.7 0.7 0.7 0.8" position="@SurfaceLoader.position" triangles="@SurfaceLoader.triangles" />
<RigidMapping name="SurfaceMapping" input="@../FDOF" output="@VisualModel" globalToLocalCoords="true"/>
</Node>
<LinearSolverConstraintCorrection linearSolver="@LDLLinearSolver" />
</Node>


<!-- Object = A letter as a 3D deformable object -->
<Node name="A" >
<EulerImplicitSolver name="EulerImplicitScheme" />
<ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A" printLog="false"/>
<EigenSimplicialLDLT name="LDLLinearSolver" template="CompressedRowSparseMatrixd" parallelInverseProduct="true" linearSystem="@A"/>


<MeshVTKLoader name="ALoader" filename="mesh/DefaultScene/A.vtk" />
<TetrahedronSetTopologyContainer name="Container" src="@ALoader" />
<TetrahedronSetTopologyModifier name="Modifier"/>
<!-- <TetrahedronSetGeometryAlgorithms name="Modifier"/> -->
<MechanicalObject name="ADOF" template="Vec3d" />
<TetrahedronFEMForceField name="LinearElasticityFEM" youngModulus="30" poissonRatio="0.4" method="large" />
<MeshMatrixMass name="Mass" totalMass="0.1" />

<Node name="Collision">
<MeshOBJLoader name="CoarseCollisionSurface" filename="mesh/DefaultScene/ACoarse.obj" />
<MechanicalObject name="CollisionDOF" position="@CoarseCollisionSurface.position"/>
<PointCollisionModel name="Surface" proximity="0.3" />
<BarycentricMapping name="SurfaceMapping"/>
</Node>

<Node name="Visu">
<MeshOBJLoader name="SurfaceLoader" filename="mesh/DefaultScene/AVisu.obj"/>
<OglModel name="VisualModel" color="0.7 0.7 0.7 0.8" position="@SurfaceLoader.position" triangles="@SurfaceLoader.triangles" />
<BarycentricMapping name="SurfaceMapping" input="@../ADOF" output="@VisualModel" isMechanical="false" />
</Node>

<LinearSolverConstraintCorrection linearSolver="@LDLLinearSolver"/>
</Node>


<!-- Floor object used to detect collision with all letters -->
<Node name="Floor" tags="NoBBox" >
<TriangleSetTopologyContainer name="FloorTopology" position="-20 -15 1 50 -15 1 50 15 1 -20 15 1" triangles="0 2 1 0 3 2" />
<MechanicalObject name="FloorDOF" template="Vec3d"/>
<TriangleCollisionModel name="FloorCM" proximity="0.02" moving="0" simulated="0" color="0.3 0.3 0.3 0.1"/>
<OglModel name="VisualModel" src="@FloorTopology"/>
</Node>


<!-- Ceil object used to detect collision with the SOFA logo -->
<Node name="Ceil" tags="NoBBox" >
<TriangleSetTopologyContainer name="CeilTopology" position="-20 -15 -20 50 -15 -20 50 15 -20 -20 15 -20" triangles="0 1 2 3 0 2" />
<MechanicalObject name="CeilDOF" template="Vec3d"/>
<TriangleCollisionModel name="CeilCM" proximity="0.02" moving="0" simulated="0" color="0.3 0.3 0.3 0.1"/>
<OglModel name="VisualModel" src="@CeilTopology"/>
</Node>
</Node >

17 changes: 17 additions & 0 deletions examples/Demos/SofaDefaultScene.scn.view
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<?xml version="1.0" encoding="UTF-8"?>
<Camera version="1.0">
<!--Vector of 3 reals (x, y, z)-->
<position value="16.0495 33.0482 -6.85346"/>
<!--Quaternion (x, y, z, w)-->
<orientation value="-0.707107 3.28811e-18 -3.28811e-18 0.707107"/>
<!--Real-->
<fieldOfView value="45"/>
<!--Real-->
<distance value="0"/>
<!--Real-->
<zNear value="1.975"/>
<!--Real-->
<zFar value="144.055"/>
<!--Int (0 -> Perspective, 1 -> Orthographic)-->
<projectionType value="Perspective"/>
</Camera>
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