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Update examples 202101 (#86)
* Add example to load XML file from python environment * Update scenes with pluginization * Missing plugin SofaOpenglVisual in scenes
1 parent 1b675c8 commit e496cb1

8 files changed

Lines changed: 95 additions & 16 deletions

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‎examples/basic-addGUI.py‎

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
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def main():
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# Make sure to load all SOFA libraries
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SofaRuntime.importPlugin("SofaBaseMechanics")
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SofaRuntime.importPlugin("SofaOpenglVisual")
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#Create the root node
@@ -48,11 +49,9 @@ def createScene(root):
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node1 = root.addChild("Node1")
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node2 = root.addChild("Node2")
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node1.addObject("MechanicalObject")
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node1.addObject("OglModel")
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node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="1")
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node2.addObject("MechanicalObject")
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node2.addObject("OglModel")
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node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1 0 0 0 1", showObject="1")
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return root
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‎examples/basic.py‎

Lines changed: 4 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -5,8 +5,8 @@
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def main():
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# Make sure to load all SOFA libraries
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SofaRuntime.importPlugin("SofaOpenglVisual")
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SofaRuntime.importPlugin("SofaBaseMechanics")
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# Call the above function to create the scene graph
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root = Sofa.Core.Node("root")
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createScene(root)
@@ -29,11 +29,9 @@ def createScene(root):
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node1 = root.addChild("Node1")
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node2 = root.addChild("Node2")
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node1.addObject("MechanicalObject", position="0 0 0")
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node1.addObject("OglModel")
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node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="1")
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node2.addObject("MechanicalObject", position="1 1 1")
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node2.addObject("OglModel")
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node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1 0 0 0 1", showObject="1")
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return root
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‎examples/emptyController.py‎

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Original file line numberDiff line numberDiff line change
@@ -94,6 +94,7 @@ def createScene(root):
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def main():
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SofaRuntime.importPlugin("SofaOpenglVisual")
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root=Sofa.Core.Node("root")
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createScene(root)
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‎examples/emptyDataEngine.py‎

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Original file line numberDiff line numberDiff line change
@@ -30,6 +30,7 @@ def createScene(root):
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def main():
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SofaRuntime.importPlugin("SofaOpenglVisual")
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root=Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.init(root)

‎examples/emptyForceField.py‎

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Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
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import Sofa
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import SofaRuntime
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import Sofa.Gui
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from Sofa.Helper import msg_info
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import numpy as np
@@ -52,6 +53,9 @@ def createScene(root):
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def main():
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SofaRuntime.importPlugin("SofaOpenglVisual")
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SofaRuntime.importPlugin("SofaImplicitOdeSolver")
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root=Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.init(root)

‎examples/example-forcefield.py‎

Lines changed: 30 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,23 +1,27 @@
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"""Implementation of a RestShapeForceField in python"""
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# coding: utf8
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import Sofa
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import SofaRuntime
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import Sofa.Gui
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import numpy as np
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class RestShapeForceField(Sofa.Core.ForceField):
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"""Implementation of a RestShapeForceField in python"""
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def __init__(self, ks=1.0, kd=1.0, *args, **kwargs):
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Sofa.Core.ForceField.__init__(self, *args, **kwargs)
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self.addData("ks", type="float", value=ks, help="The stiffness spring", group="Spring's Properties")
11-
self.addData("kd", type="float", value=kd, help="The stiffness spring", group="Spring's Properties")
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self.addData("kd", type="float", value=kd, help="The damping spring", group="Spring's Properties")
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def init(self):
14-
self.initpos = self.mstate.position.array().copy()
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mstate = self.getContext().mechanical
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self.initpos = mstate.position.array().copy()
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self.k = np.zeros((1,1))
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self.f = []
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self.d = 0.5
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def addForce(self, m, out_force, pos, vel):
20-
out_force.value += ( (self.initpos-pos.value) * self.ks.value )
23+
with out_force.writeableArray() as wa:
24+
wa[:] += ( (self.initpos-pos.value) * self.ks.value )
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def addDForce(self, df, dx, params):
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pass
@@ -40,8 +44,28 @@ def createScene(node):
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c.showColor = [1.0,0.0,0.0,1.0]
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c.drawMode = 1
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o.addObject("UniformMass", name="mass", vertexMass=0.1)
44-
o.addObject( RestShapeForceField(name="CPPObject", kd=2.0))
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47+
o.addObject("UniformMass", name="mass", totalMass=[0.1])
48+
o.addObject( RestShapeForceField(name="CPPObject", ks=2.0, kd=0.1))
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return node
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52+
def main():
53+
SofaRuntime.importPlugin("SofaOpenglVisual")
54+
SofaRuntime.importPlugin("SofaBaseMechanics")
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SofaRuntime.importPlugin("SofaImplicitOdeSolver")
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57+
root=Sofa.Core.Node("root")
58+
createScene(root)
59+
Sofa.Simulation.init(root)
60+
61+
Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
62+
Sofa.Gui.GUIManager.createGUI(root, __file__)
63+
Sofa.Gui.GUIManager.SetDimension(1080, 1080)
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Sofa.Gui.GUIManager.MainLoop(root)
65+
Sofa.Gui.GUIManager.closeGUI()
66+
67+
print("End of simulation.")
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69+
70+
if __name__ == '__main__':
71+
main()

‎examples/liver.py‎

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Original file line numberDiff line numberDiff line change
@@ -10,6 +10,7 @@
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def main():
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SofaRuntime.importPlugin("SofaOpenglVisual")
13+
SofaRuntime.importPlugin("SofaImplicitOdeSolver")
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root = Sofa.Core.Node("root")
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createScene(root)

‎examples/loadXMLfromPython.py‎

Lines changed: 51 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,51 @@
1+
import Sofa
2+
import Sofa.Gui
3+
import SofaRuntime
4+
import tempfile
5+
import os
6+
7+
8+
9+
def main():
10+
# Make sure to load all SOFA libraries
11+
SofaRuntime.importPlugin("SofaOpenglVisual")
12+
13+
root = Sofa.Core.Node("root")
14+
15+
# Call the above function to create the scene graph
16+
scene="""
17+
<Node name="rootNode" dt="0.005" gravity="0 0 0">
18+
19+
<DefaultVisualManagerLoop/>
20+
<DefaultAnimationLoop/>
21+
22+
<Node name="child1">
23+
<MechanicalObject template="Rigid3d" position="0 0 0 0 0 0 1" showObject="1"/>
24+
</Node>
25+
26+
<Node name="child2">
27+
<MechanicalObject template="Rigid3d" position="1 1 1 0 0 0 1" showObject="1"/>
28+
</Node>
29+
</Node>
30+
"""
31+
tf = tempfile.NamedTemporaryFile(mode="w+t", suffix=".scn", delete=False)
32+
tf.write(scene)
33+
tf.flush()
34+
node = Sofa.Simulation.load(tf.name)
35+
36+
# Find out the supported GUIs
37+
print ("Supported GUIs are: " + Sofa.Gui.GUIManager.ListSupportedGUI(","))
38+
# Launch the GUI (qt or qglviewer)
39+
Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
40+
Sofa.Gui.GUIManager.createGUI(node, __file__)
41+
Sofa.Gui.GUIManager.SetDimension(1080, 1080)
42+
# Initialization of the scene will be done here
43+
Sofa.Gui.GUIManager.MainLoop(node)
44+
Sofa.Gui.GUIManager.closeGUI()
45+
print("GUI was closed")
46+
print("Simulation is done.")
47+
os.remove(tf.name)
48+
49+
# Function used only if this script is called from a python environment
50+
if __name__ == '__main__':
51+
main()

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