void testLoadObjFile() {
string file;
file += "# This is a comment\n";
file += "v -1.0 1.0 2.0\n";
file += "v -2.0 2.0 3.0\n";
file += "v -3.0 3.0 \\\n";
file += "4.0\n";
file += "v -4.0 4.0 5.0\n";
file += "v -5.0 5.0 6.0\n";
file += "f 1 2 3\n";
file += "f 2// 3/4/5 4//2\n";
file += "f -3 -2/3/4 -1\n";
file += "f 1 3\\\n";
file += "5 2\n";
PolygonalMesh mesh;
stringstream stream(file);
mesh.loadObjFile(stream);
ASSERT(mesh.getNumVertices() == 5);
ASSERT(mesh.getNumFaces() == 4);
for (int i = 0; i < mesh.getNumVertices(); i++) {
const Vec3& pos = mesh.getVertexPosition(i);
ASSERT(pos[0] == -(i+1));
ASSERT(pos[1] == i+1);
ASSERT(pos[2] == i+2);
}
for (int i = 0; i < 3; i++) {
ASSERT(mesh.getNumVerticesForFace(i) == 3);
ASSERT(mesh.getFaceVertex(i, 0) == i);
ASSERT(mesh.getFaceVertex(i, 1) == i+1);
ASSERT(mesh.getFaceVertex(i, 2) == i+2);
}
ASSERT(mesh.getNumVerticesForFace(3) == 4);
ASSERT(mesh.getFaceVertex(3, 0) == 0);
ASSERT(mesh.getFaceVertex(3, 1) == 2);
ASSERT(mesh.getFaceVertex(3, 2) == 4);
ASSERT(mesh.getFaceVertex(3, 3) == 1);
}
void flexionFDSimulationWithHitMap(Model& model)
{
addFlexionController(model);
//addExtensionController(model);
//addTibialLoads(model, 0);
model.setUseVisualizer(true);
// init system
std::time_t result = std::time(nullptr);
std::cout << "\nBefore initSystem() " << std::asctime(std::localtime(&result)) << endl;
SimTK::State& si = model.initSystem();
result = std::time(nullptr);
std::cout << "\nAfter initSystem() " << std::asctime(std::localtime(&result)) << endl;
// set gravity
//model.updGravityForce().setGravityVector(si, Vec3(-9.80665,0,0));
//model.updGravityForce().setGravityVector(si, Vec3(0,0,0));
//setHipAngle(model, si, 90);
//setKneeAngle(model, si, 0, false, false);
//model.equilibrateMuscles( si);
MultibodySystem& system = model.updMultibodySystem();
SimbodyMatterSubsystem& matter = system.updMatterSubsystem();
GeneralForceSubsystem forces(system);
ContactTrackerSubsystem tracker(system);
CompliantContactSubsystem contactForces(system, tracker);
contactForces.setTrackDissipatedEnergy(true);
//contactForces.setTransitionVelocity(1e-3);
for (int i=0; i < matter.getNumBodies(); ++i) {
MobilizedBodyIndex mbx(i);
if (i==19 || i==20 || i==22)// || i==15 || i==16)
{
MobilizedBody& mobod = matter.updMobilizedBody(mbx);
std::filebuf fb;
//cout << mobod.updBody().
if (i==19)
fb.open ( "../resources/femur_lat_r.obj",std::ios::in);
else if (i==20)
fb.open ( "../resources/femur_med_r.obj",std::ios::in);
else if (i==22)
fb.open ( "../resources/tibia_upper_r.obj",std::ios::in);
//else if (i==15)
//fb.open ( "../resources/meniscus_lat_r.obj",std::ios::in);
//else if (i==16)
//fb.open ( "../resources/meniscus_med_r.obj",std::ios::in);
std::istream is(&fb);
PolygonalMesh polMesh;
polMesh.loadObjFile(is);
fb.close();
SimTK::ContactGeometry::TriangleMesh mesh(polMesh);
ContactSurface contSurf;//(mesh, ContactMaterial(1.0e6, 1, 1, 0.03, 0.03), 0.001);
if (i==19 || i==20 || i==22)
contSurf = ContactSurface(mesh, ContactMaterial(10, 1, 1, 0.03, 0.03), 0.001);
//else if (i==15 || i==16)
//contSurf = ContactSurface(mesh, ContactMaterial(10, 3, 1, 0.03, 0.03), 0.001);
DecorativeMesh showMesh(mesh.createPolygonalMesh());
showMesh.setOpacity(0.5);
mobod.updBody().addDecoration( showMesh);
mobod.updBody().addContactSurface(contSurf);
}
}
ModelVisualizer& viz(model.updVisualizer());
//Visualizer viz(system);
viz.updSimbodyVisualizer().addDecorationGenerator(new HitMapGenerator(system,contactForces));
viz.updSimbodyVisualizer().setMode(Visualizer::RealTime);
viz.updSimbodyVisualizer().setDesiredBufferLengthInSec(1);
viz.updSimbodyVisualizer().setDesiredFrameRate(30);
viz.updSimbodyVisualizer().setGroundHeight(-3);
viz.updSimbodyVisualizer().setShowShadows(true);
Visualizer::InputSilo* silo = new Visualizer::InputSilo();
viz.updSimbodyVisualizer().addInputListener(silo);
Array_<std::pair<String,int> > runMenuItems;
runMenuItems.push_back(std::make_pair("Go", GoItem));
runMenuItems.push_back(std::make_pair("Replay", ReplayItem));
runMenuItems.push_back(std::make_pair("Quit", QuitItem));
viz.updSimbodyVisualizer().addMenu("Run", RunMenuId, runMenuItems);
Array_<std::pair<String,int> > helpMenuItems;
helpMenuItems.push_back(std::make_pair("TBD - Sorry!", 1));
viz.updSimbodyVisualizer().addMenu("Help", HelpMenuId, helpMenuItems);
system.addEventReporter(new MyReporter(system,contactForces,ReportInterval));
//system.addEventReporter(new Visualizer::Reporter(viz.updSimbodyVisualizer(), ReportInterval));
// Check for a Run->Quit menu pick every <x> second.
system.addEventHandler(new UserInputHandler(*silo, 0.001));
system.realizeTopology();
//Show ContactSurfaceIndex for each contact surface
// for (int i=0; i < matter.getNumBodies(); ++i) {
//MobilizedBodyIndex mbx(i);
// const MobilizedBody& mobod = matter.getMobilizedBody(mbx);
// const int nsurfs = mobod.getBody().getNumContactSurfaces();
//printf("mobod %d has %d contact surfaces\n", (int)mbx, nsurfs);
////cout << "mobod with mass: " << (float)mobod.getBodyMass(si) << " has " << nsurfs << " contact surfaces" << endl;
// //for (int i=0; i<nsurfs; ++i) {
// //printf("%2d: index %d\n", i,
// //(int)tracker.getContactSurfaceIndex(mbx,i));
// //}
// }
//cout << "tracker num of surfaces: " << tracker.getNumSurfaces() << endl;
//State state = system.getDefaultState();
//viz.report(state);
State& state = model.initializeState();
viz.updSimbodyVisualizer().report(state);
// Add reporters
ForceReporter* forceReporter = new ForceReporter(&model);
model.addAnalysis(forceReporter);
CustomAnalysis* customReporter = new CustomAnalysis(&model, "r");
model.addAnalysis(customReporter);
// Create the integrator and manager for the simulation.
SimTK::RungeKuttaMersonIntegrator integrator(model.getMultibodySystem());
//SimTK::CPodesIntegrator integrator(model.getMultibodySystem());
//integrator.setAccuracy(.01);
//integrator.setAccuracy(1e-3);
//integrator.setFixedStepSize(0.001);
Manager manager(model, integrator);
// Define the initial and final simulation times
double initialTime = 0.0;
double finalTime = 0.2;
// Integrate from initial time to final time
manager.setInitialTime(initialTime);
manager.setFinalTime(finalTime);
std::cout<<"\n\nIntegrating from "<<initialTime<<" to " <<finalTime<<std::endl;
result = std::time(nullptr);
std::cout << "\nBefore integrate(si) " << std::asctime(std::localtime(&result)) << endl;
manager.integrate(state);
result = std::time(nullptr);
std::cout << "\nAfter integrate(si) " << std::asctime(std::localtime(&result)) << endl;
// Save the simulation results
Storage statesDegrees(manager.getStateStorage());
statesDegrees.print("../outputs/states_flex.sto");
model.updSimbodyEngine().convertRadiansToDegrees(statesDegrees);
statesDegrees.setWriteSIMMHeader(true);
statesDegrees.print("../outputs/states_degrees_flex.mot");
// force reporter results
forceReporter->getForceStorage().print("../outputs/force_reporter_flex.mot");
//customReporter->print( "../outputs/custom_reporter_flex.mot");
//cout << "You can choose 'Replay'" << endl;
int menuId, item;
unsigned int frameRate = 5;
do {
cout << "Please choose 'Replay' or 'Quit'" << endl;
viz.updInputSilo().waitForMenuPick(menuId, item);
if (item != ReplayItem && item != QuitItem)
cout << "\aDude... follow instructions!\n";
if (item == ReplayItem)
{
cout << "Type desired frame rate (integer) for playback and press Enter (default = 1) : ";
//frameRate = cin.get();
cin >> frameRate;
if (cin.fail())
{
cout << "Not an int. Setting default frame rate." << endl;
cin.clear();
cin.ignore(std::numeric_limits<int>::max(),'\n');
frameRate = 1;
}
//cout << "saveEm size: " << saveEm.size() << endl;
for (unsigned int i=0; i<saveEm.size(); i++)
{
viz.updSimbodyVisualizer().drawFrameNow(saveEm.getElt(i));
if (frameRate == 0)
frameRate = 1;
usleep(1000000/frameRate);
}
}
} while (menuId != RunMenuId || item != QuitItem);
}
int main() {
try
{ std::cout << "Current working directory: "
<< Pathname::getCurrentWorkingDirectory() << std::endl;
// Create the system.
MultibodySystem system; system.setUseUniformBackground(true);
SimbodyMatterSubsystem matter(system);
GeneralForceSubsystem forces(system);
Force::UniformGravity gravity(forces, matter, 0*Vec3(2, -9.8, 0));
ContactTrackerSubsystem tracker(system);
CompliantContactSubsystem contactForces(system, tracker);
contactForces.setTrackDissipatedEnergy(true);
GeneralContactSubsystem OLDcontact(system);
const ContactSetIndex OLDcontactSet = OLDcontact.createContactSet();
contactForces.setTransitionVelocity(1e-3);
std::ifstream meshFile1, meshFile2;
PolygonalMesh femurMesh;
meshFile1.open("ContactBigMeshes_Femur.obj");
femurMesh.loadObjFile(meshFile1); meshFile1.close();
PolygonalMesh patellaMesh;
meshFile2.open("ContactBigMeshes_Patella.obj");
patellaMesh.loadObjFile(meshFile2); meshFile2.close();
ContactGeometry::TriangleMesh femurTri(femurMesh);
ContactGeometry::TriangleMesh patellaTri(patellaMesh);
DecorativeMesh showFemur(femurTri.createPolygonalMesh());
Array_<DecorativeLine> femurNormals;
const Real NormalLength = .02;
//for (int fx=0; fx < femurTri.getNumFaces(); ++fx)
// femurNormals.push_back(
// DecorativeLine(femurTri.findCentroid(fx),
// femurTri.findCentroid(fx)
// + NormalLength*femurTri.getFaceNormal(fx)));
DecorativeMesh showPatella(patellaTri.createPolygonalMesh());
Array_<DecorativeLine> patellaNormals;
//for (int fx=0; fx < patellaTri.getNumFaces(); ++fx)
// patellaNormals.push_back(
// DecorativeLine(patellaTri.findCentroid(fx),
// patellaTri.findCentroid(fx)
// + NormalLength*patellaTri.getFaceNormal(fx)));
// This transform has the meshes close enough that their OBBs overlap
// but in the end none of the faces are touching.
const Transform X_FP(
Rotation(Mat33( 0.97107625831404454, 0.23876955530133021, 0,
-0.23876955530133021, 0.97107625831404454, 0,
0, 0, 1), true),
Vec3(0.057400580865008571, 0.43859170879135373,
-0.00016506240185135300)
);
const Real fFac =1; // to turn off friction
const Real fDis = .5*0.2; // to turn off dissipation
const Real fVis = .1*.1; // to turn off viscous friction
const Real fK = 100*1e6; // pascals
// Put femur on ground at origin
matter.Ground().updBody().addDecoration(Vec3(0,0,0),
showFemur.setColor(Cyan).setOpacity(.2));
matter.Ground().updBody().addContactSurface(Vec3(0,0,0),
ContactSurface(femurTri,
ContactMaterial(fK*.01,fDis*.9,fFac*.8,fFac*.7,fVis*10),
.01 /*thickness*/));
Body::Rigid patellaBody(MassProperties(1.0, Vec3(0), Inertia(1)));
patellaBody.addDecoration(Transform(),
showPatella.setColor(Red).setOpacity(.2));
patellaBody.addContactSurface(Transform(),
ContactSurface(patellaTri,
ContactMaterial(fK*.001,fDis*.9,fFac*.8,fFac*.7,fVis*10),
.01 /*thickness*/));
MobilizedBody::Free patella(matter.Ground(), Transform(Vec3(0)),
patellaBody, Transform(Vec3(0)));
//// The old way ...
//OLDcontact.addBody(OLDcontactSet, ball,
// pyramid, Transform());
//OLDcontact.addBody(OLDcontactSet, matter.updGround(),
// ContactGeometry::HalfSpace(), Transform(R_xdown, Vec3(0,-3,0)));
//ElasticFoundationForce ef(forces, OLDcontact, OLDcontactSet);
//Real stiffness = 1e6, dissipation = 0.01, us = 0.1,
// ud = 0.05, uv = 0.01, vt = 0.01;
////Real stiffness = 1e6, dissipation = 0.1, us = 0.8,
//// ud = 0.7, uv = 0.01, vt = 0.01;
//ef.setBodyParameters(ContactSurfaceIndex(0),
// stiffness, dissipation, us, ud, uv);
//ef.setTransitionVelocity(vt);
//// end of old way.
Visualizer viz(system);
Visualizer::Reporter& reporter = *new Visualizer::Reporter(viz, ReportInterval);
viz.addDecorationGenerator(new ForceArrowGenerator(system,contactForces));
MyReporter& myRep = *new MyReporter(system,contactForces,ReportInterval);
system.addEventReporter(&myRep);
system.addEventReporter(&reporter);
// Initialize the system and state.
system.realizeTopology();
State state = system.getDefaultState();
viz.report(state);
printf("Reference state -- hit ENTER\n");
cout << "t=" << state.getTime()
<< " q=" << patella.getQAsVector(state)
<< " u=" << patella.getUAsVector(state)
<< endl;
char c=getchar();
patella.setQToFitTransform(state, ~X_FP);
viz.report(state);
printf("Initial state -- hit ENTER\n");
cout << "t=" << state.getTime()
<< " q=" << patella.getQAsVector(state)
<< " u=" << patella.getUAsVector(state)
<< endl;
c=getchar();
// Simulate it.
const clock_t start = clock();
RungeKutta3Integrator integ(system);
TimeStepper ts(system, integ);
ts.initialize(state);
ts.stepTo(2.0);
const double timeInSec = (double)(clock()-start)/CLOCKS_PER_SEC;
const int evals = integ.getNumRealizations();
cout << "Done -- took " << integ.getNumStepsTaken() << " steps in " <<
timeInSec << "s for " << ts.getTime() << "s sim (avg step="
<< (1000*ts.getTime())/integ.getNumStepsTaken() << "ms) "
<< (1000*ts.getTime())/evals << "ms/eval\n";
printf("Using Integrator %s at accuracy %g:\n",
integ.getMethodName(), integ.getAccuracyInUse());
printf("# STEPS/ATTEMPTS = %d/%d\n", integ.getNumStepsTaken(), integ.getNumStepsAttempted());
printf("# ERR TEST FAILS = %d\n", integ.getNumErrorTestFailures());
printf("# REALIZE/PROJECT = %d/%d\n", integ.getNumRealizations(), integ.getNumProjections());
while(true) {
for (int i=0; i < (int)saveEm.size(); ++i) {
viz.report(saveEm[i]);
}
getchar();
}
} catch (const std::exception& e) {
std::printf("EXCEPTION THROWN: %s\n", e.what());
exit(1);
} catch (...) {
std::printf("UNKNOWN EXCEPTION THROWN\n");
exit(1);
}
return 0;
}