void apply(const std::string& /*directory*/, std::vector<std::string>& files, bool /*reinit*/)
{
sofa::simulation::Simulation* simulation = sofa::simulation::getSimulation();
//Launch the comparison for each scenes
for (unsigned int i = 0; i < files.size(); ++i)
{
const std::string& currentFile = files[i];
GNode::SPtr groot = sofa::core::objectmodel::SPtr_dynamic_cast<GNode> (simulation->load(currentFile.c_str()));
if (groot == NULL)
{
std::cerr << "CANNOT open " << currentFile << " !" << std::endl;
continue;
}
std::cout << "sec. Loading " << currentFile << std::endl;
//Save the initial time
clock_t curtime = clock();
simulation->init(groot.get());
double t = static_cast<double>(clock() - curtime) / (float)CLOCKS_PER_SEC;
std::cout << "Init time " << t << " sec." << std::endl;
//Clear and prepare for next scene
simulation->unload(groot);
groot.reset();
}
}
/// Move a node from another node
void GNode::moveChild(BaseNode::SPtr node)
{
GNode::SPtr gnode = sofa::core::objectmodel::SPtr_dynamic_cast<GNode>(node);
if (!gnode) return;
GNode* prev = gnode->parent();
if (prev==NULL)
{
addChild(node);
}
else
{
notifyMoveChild(gnode,prev);
prev->doRemoveChild(gnode);
doAddChild(gnode);
}
}
// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
glutInit(&argc,argv);
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
sofa::gui::GUIManager::Init(argv[0]);
// The graph root node
GNode::SPtr groot = sofa::core::objectmodel::New<GNode>();
groot->setName( "root" );
groot->setGravity( Coord3(0,-10,0) );
// One solver for all the graph
EulerSolver::SPtr solver = sofa::core::objectmodel::New<EulerSolver>();
solver->setName("solver");
solver->f_printLog.setValue(false);
groot->addObject(solver);
// One node to define the particle
GNode::SPtr particule_node = sofa::core::objectmodel::New<GNode>("particle_node", groot.get());
// The particule, i.e, its degrees of freedom : a point with a velocity
MechanicalObject3::SPtr particle = sofa::core::objectmodel::New<MechanicalObject3>();
particle->setName("particle");
particule_node->addObject(particle);
particle->resize(1);
// get write access the particle positions vector
WriteAccessor< Data<MechanicalObject3::VecCoord> > positions = *particle->write( VecId::position() );
positions[0] = Coord3(0,0,0);
// get write access the particle velocities vector
WriteAccessor< Data<MechanicalObject3::VecDeriv> > velocities = *particle->write( VecId::velocity() );
velocities[0] = Deriv3(0,0,0);
// Its properties, i.e, a simple mass node
UniformMass3::SPtr mass = sofa::core::objectmodel::New<UniformMass3>();
mass->setName("mass");
particule_node->addObject(mass);
mass->setMass( 1 );
// Display Flags
sofa::component::visualmodel::VisualStyle::SPtr style = sofa::core::objectmodel::New<sofa::component::visualmodel::VisualStyle>();
groot->addObject(style);
sofa::core::visual::DisplayFlags& flags = *style->displayFlags.beginEdit();
flags.setShowBehaviorModels(true);
style->displayFlags.endEdit();
sofa::simulation::tree::getSimulation()->init(groot.get());
groot->setAnimate(false);
//=======================================
// Run the main loop
sofa::gui::GUIManager::MainLoop(groot);
return 0;
}
// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
glutInit(&argc,argv);
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
sofa::gui::GUIManager::Init(argv[0]);
// The graph root node : gravity already exists in a GNode by default
GNode::SPtr groot = sofa::core::objectmodel::New<GNode>();
groot->setName( "root" );
groot->setGravity( Coord3(0,-10,0) );
// One solver for all the graph
EulerSolver::SPtr solver = sofa::core::objectmodel::New<EulerSolver>();
solver->setName("solver");
solver->f_printLog.setValue(false);
groot->addObject(solver);
// Tetrahedron degrees of freedom
MechanicalObject3::SPtr DOF = sofa::core::objectmodel::New<MechanicalObject3>();
groot->addObject(DOF);
DOF->resize(4);
DOF->setName("DOF");
//get write access to the position vector of mechanical object DOF
WriteAccessor<Data<VecCoord3> > x = *DOF->write(VecId::position());
x[0] = Coord3(0,10,0);
x[1] = Coord3(10,0,0);
x[2] = Coord3(-10*0.5,0,10*0.866);
x[3] = Coord3(-10*0.5,0,-10*0.866);
// Tetrahedron uniform mass
UniformMass3::SPtr mass = sofa::core::objectmodel::New<UniformMass3>();
groot->addObject(mass);
mass->setMass(2);
mass->setName("mass");
// Tetrahedron topology
MeshTopology::SPtr topology = sofa::core::objectmodel::New<MeshTopology>();
topology->setName("mesh topology");
groot->addObject( topology );
topology->addTetra(0,1,2,3);
// Tetrahedron constraints
FixedConstraint3::SPtr constraints = sofa::core::objectmodel::New<FixedConstraint3>();
constraints->setName("constraints");
groot->addObject(constraints);
constraints->addConstraint(0);
// Tetrahedron force field
TetrahedronFEMForceField3::SPtr fem = sofa::core::objectmodel::New<TetrahedronFEMForceField3>();
fem->setName("FEM");
groot->addObject(fem);
fem->setMethod("polar");
fem->setUpdateStiffnessMatrix(true);
fem->setYoungModulus(6);
// Tetrahedron skin
GNode::SPtr skin = sofa::core::objectmodel::New<GNode>("skin",groot.get());;
// The visual model
OglModel::SPtr visual = sofa::core::objectmodel::New<OglModel>();
visual->setName( "visual" );
visual->load(sofa::helper::system::DataRepository.getFile("mesh/liver-smooth.obj"), "", "");
visual->setColor("red");
visual->applyScale(0.7, 0.7, 0.7);
visual->applyTranslation(1.2, 0.8, 0);
skin->addObject(visual);
// The mapping between the tetrahedron (DOF) and the liver (visual)
BarycentricMapping3_to_Ext3::SPtr mapping = sofa::core::objectmodel::New<BarycentricMapping3_to_Ext3>();
mapping->setModels(DOF.get(), visual.get());
mapping->setName( "mapping" );
skin->addObject(mapping);
// Display Flags
sofa::component::visualmodel::VisualStyle::SPtr style = sofa::core::objectmodel::New<sofa::component::visualmodel::VisualStyle>();
groot->addObject(style);
sofa::core::visual::DisplayFlags& flags = *style->displayFlags.beginEdit();
flags.setShowNormals(false);
flags.setShowInteractionForceFields(false);
flags.setShowMechanicalMappings(false);
flags.setShowCollisionModels(false);
flags.setShowBoundingCollisionModels(false);
flags.setShowMappings(false);
flags.setShowForceFields(true);
flags.setShowWireFrame(true);
flags.setShowVisualModels(true);
flags.setShowBehaviorModels(true);
style->displayFlags.endEdit();
// Init the scene
sofa::simulation::tree::getSimulation()->init(groot.get());
groot->setAnimate(false);
//=======================================
// Run the main loop
sofa::gui::GUIManager::MainLoop(groot);
return 0;
}
void apply(const std::string& directory, std::vector<std::string>& files,
unsigned int iterations, bool reinit, bool useTopology)
{
sofa::component::init(); // ensures all components are initialized, also introduce a dependency to all libraries, avoiding problems with -Wl,--as-needed flag
sofa::simulation::Simulation* simulation = sofa::simulation::getSimulation();
//Launch the comparison for each scenes
for (unsigned int i = 0; i < files.size(); ++i)
{
const std::string& currentFile = files[i];
GNode::SPtr groot = sofa::core::objectmodel::SPtr_dynamic_cast<GNode> (simulation->load(currentFile.c_str()));
if (groot == NULL)
{
std::cerr << "CANNOT open " << currentFile << " !" << std::endl;
continue;
}
simulation->init(groot.get());
//Filename where the simulation of the current scene will be saved (in Sofa/applications/projects/sofaVerification/simulation/)
std::string refFile;
if(directory.empty())
{
refFile += SetDirectory::GetParentDir(DataRepository.getFirstPath().c_str());
refFile += "/applications/projects/sofaVerification/simulation/";
refFile += SetDirectory::GetFileName(currentFile.c_str());
}
else
{
refFile += directory;
refFile += '/';
refFile += SetDirectory::GetFileName(currentFile.c_str());
}
//If we initialize the system, we add only WriteState components, to store the reference states
if (reinit)
{
if (useTopology)
{
sofa::component::misc::WriteTopologyCreator writeVisitor(sofa::core::ExecParams::defaultInstance());
writeVisitor.setCreateInMapping(true);
writeVisitor.setSceneName(refFile);
writeVisitor.execute(groot.get());
sofa::component::misc::WriteTopologyActivator v_write(sofa::core::ExecParams::defaultInstance() /* PARAMS FIRST */, true);
v_write.execute(groot.get());
}
else
{
sofa::component::misc::WriteStateCreator writeVisitor(sofa::core::ExecParams::defaultInstance());
writeVisitor.setCreateInMapping(true);
writeVisitor.setSceneName(refFile);
writeVisitor.execute(groot.get());
sofa::component::misc::WriteStateActivator v_write(sofa::core::ExecParams::defaultInstance() /* PARAMS FIRST */, true);
v_write.execute(groot.get());
}
}
else
{
if (useTopology)
{
//We add CompareTopology components: as it derives from the ReadTopology, we use the ReadTopologyActivator to enable them.
sofa::component::misc::CompareTopologyCreator compareVisitor(sofa::core::ExecParams::defaultInstance());
compareVisitor.setCreateInMapping(true);
compareVisitor.setSceneName(refFile);
compareVisitor.execute(groot.get());
sofa::component::misc::ReadTopologyActivator v_read(sofa::core::ExecParams::defaultInstance(),true);
v_read.execute(groot.get());
}
else
{
//We add CompareState components: as it derives from the ReadState, we use the ReadStateActivator to enable them.
sofa::component::misc::CompareStateCreator compareVisitor(sofa::core::ExecParams::defaultInstance());
compareVisitor.setCreateInMapping(true);
compareVisitor.setSceneName(refFile);
compareVisitor.execute(groot.get());
sofa::component::misc::ReadStateActivator v_read(sofa::core::ExecParams::defaultInstance() /* PARAMS FIRST */, true);
v_read.execute(groot.get());
}
}
//Do as many iterations as specified in entry of the program. At each step, the compare state will compare the computed states to the recorded states
std::cout << "Computing " << iterations << " for " << currentFile << std::endl;
//Save the initial time
clock_t curtime = clock();
for (unsigned int i = 0; i < iterations; i++)
{
simulation->animate(groot.get());
}
double t = static_cast<double>(clock() - curtime) / CLOCKS_PER_SEC;
std::cout << "ITERATIONS " << iterations << " TIME " << t << " seconds ";
//We read the final error: the summation of all the error made at each time step
if (!reinit)
{
if (useTopology)
{
sofa::component::misc::CompareTopologyResult result(sofa::core::ExecParams::defaultInstance());
result.execute(groot.get());
std::cout << "ERROR " << result.getTotalError() << ' ';
const std::vector<unsigned int>& listResult = result.getErrors();
if (listResult.size() != 5)
{
std::cerr
<< "ERROR while reading detail of errors by topological element."
<< std::endl;
break;
}
std::cout
<< "ERROR by element type "
<< " EDGES " << static_cast<double>(listResult[0])
/ result.getNumCompareTopology()
<< " TRIANGLES " << static_cast<double>(listResult[1])
/ result.getNumCompareTopology()
<< " QUADS " << static_cast<double>(listResult[2])
/ result.getNumCompareTopology()
<< " TETRAHEDRA " << static_cast<double>(listResult[3])
/ result.getNumCompareTopology()
<< " HEXAHEDRA " << static_cast<double>(listResult[4])
/ result.getNumCompareTopology();
}
else
{
sofa::component::misc::CompareStateResult result(sofa::core::ExecParams::defaultInstance());
result.execute(groot.get());
std::cout
<< "ERROR " << result.getTotalError() << " ERRORBYDOF "
<< static_cast<double>(result.getErrorByDof())
/ result.getNumCompareState() << std::endl;
}
}
std::cout << std::endl;
//Clear and prepare for next scene
simulation->unload(groot.get());
groot.reset();
}
}