bool SofaCarving_test::doCarvingWithPenetration()
{
bool res = createScene("-0.02");
if (!res)
return false;
// init scene
m_simu->init(m_root.get());
// get node of the mesh
sofa::simulation::Node* cylinder = m_root->getChild("cylinder");
EXPECT_NE(cylinder, nullptr);
// getting topology
sofa::core::topology::BaseMeshTopology* topo = cylinder->getMeshTopology();
EXPECT_NE(topo, nullptr);
// perform some steps
for (unsigned int i = 0; i < 100; ++i)
{
m_simu->animate(m_root.get());
}
// checking topo after carving
EXPECT_LT(topo->getNbPoints(), 510);
EXPECT_LT(topo->getNbEdges(), 3119);
EXPECT_LT(topo->getNbTriangles(), 5040);
EXPECT_LT(topo->getNbTetrahedra(), 2430);
return true;
}
bool SofaCarving_test::ManagerInit()
{
bool res = createScene("0.0");
if (!res)
return false;
// init scene
m_simu->init(m_root.get());
// get node of the mesh
sofa::simulation::Node* cylinder = m_root->getChild("cylinder");
EXPECT_NE(cylinder, nullptr);
// getting topology
sofa::core::topology::BaseMeshTopology* topo = cylinder->getMeshTopology();
EXPECT_NE(topo, nullptr);
// checking topo at start
EXPECT_EQ(topo->getNbPoints(), 510);
EXPECT_EQ(topo->getNbEdges(), 3119);
EXPECT_EQ(topo->getNbTriangles(), 5040);
EXPECT_EQ(topo->getNbTetrahedra(), 2430);
return res;
}
void BaseGUI::configureGUI(sofa::simulation::Node::SPtr groot)
{
sofa::component::configurationsetting::SofaDefaultPathSetting *defaultPath;
groot->get(defaultPath, sofa::core::objectmodel::BaseContext::SearchRoot);
if (defaultPath)
{
if (!defaultPath->recordPath.getValue().empty())
{
setRecordPath(defaultPath->recordPath.getValue());
}
if (!defaultPath->gnuplotPath.getValue().empty())
setGnuplotPath(defaultPath->gnuplotPath.getValue());
}
//Background
sofa::component::configurationsetting::BackgroundSetting *background;
groot->get(background, sofa::core::objectmodel::BaseContext::SearchRoot);
if (background)
{
if (background->image.getValue().empty())
setBackgroundColor(background->color.getValue());
else
setBackgroundImage(background->image.getFullPath());
}
//Stats
sofa::component::configurationsetting::StatsSetting *stats;
groot->get(stats, sofa::core::objectmodel::BaseContext::SearchRoot);
if (stats)
{
setDumpState(stats->dumpState.getValue());
setLogTime(stats->logTime.getValue());
setExportState(stats->exportState.getValue());
#ifdef SOFA_DUMP_VISITOR_INFO
setTraceVisitors(stats->traceVisitors.getValue());
#endif
}
//Viewer Dimension TODO in viewer !
sofa::component::configurationsetting::ViewerSetting *viewerConf;
groot->get(viewerConf, sofa::core::objectmodel::BaseContext::SearchRoot);
if (viewerConf) setViewerConfiguration(viewerConf);
//TODO: Video Recorder Configuration
//Mouse Manager using ConfigurationSetting component...
sofa::helper::vector< sofa::component::configurationsetting::MouseButtonSetting*> mouseConfiguration;
groot->get<sofa::component::configurationsetting::MouseButtonSetting>(&mouseConfiguration, sofa::core::objectmodel::BaseContext::SearchRoot);
for (unsigned int i=0; i<mouseConfiguration.size(); ++i) setMouseButtonConfiguration(mouseConfiguration[i]);
}
void SetUp()
{
std::string scene =
"<Node name='root' gravity='0 -9.81 0'>"
"<DefaultAnimationLoop/>"
"<Node name='node'>"
"<EulerImplicit rayleighStiffness='0' printLog='false' rayleighMass='0.1'/>"
"<CGLinearSolver iterations='100' threshold='0.00000001' "
"tolerance='1e-5'/>"
"<MeshGmshLoader name='loader' filename='mesh/smCube27.msh' "
"createSubelements='true' />"
"<MechanicalObject template='Rigid3d' src='@loader' name='MO' />"
"<Monitor template='Rigid3d' name='monitor' listening='1' indices='0' "
"ExportPositions='true' ExportVelocities='true' ExportForces='true' />"
"<UniformMass totalmass='1' />"
"</Node>"
"</Node>";
root = SceneLoaderXML::loadFromMemory("MonitorTest", scene.c_str(),
scene.size());
root->init(sofa::core::ExecParams::defaultInstance());
std::string s = "/node/monitor";
Monitor<Rigid3Types>* ptr = NULL;
ptr = root->get<Monitor<Rigid3Types> >(s);
EXPECT_FALSE(ptr == NULL);
monitor = reinterpret_cast<MonitorTest*>(ptr);
EXPECT_FALSE(monitor == 0);
root->get<MechanicalObject<Rigid3Types> >(mo, "/node/MO");
EXPECT_FALSE(mo == 0);
}
void testModif()
{
std::string str_x =
"# Gnuplot File : positions of 1 particle(s) Monitored\n# 1st Column : "
"time, others : particle(s) number 0 \n1 -3.5 -12.4182 -3.5 0 0 "
"0 1 \n2 -3.5 -29.4438 -3.5 0 0 0 1 \n3 -3.5 -53.8398 "
"-3.5 0 0 0 1 \n4 -3.5 -84.9362 -3.5 0 0 0 1 \n5 -3.5 "
"-122.124 -3.5 0 0 0 1 \n6 -3.5 -164.849 -3.5 0 0 0 1 "
"\n7 "
"-3.5 -212.608 -3.5 0 0 0 1 \n8 -3.5 -264.944 -3.5 0 0 0 "
"1 "
"\n9 -3.5 -321.44 -3.5 0 0 0 1 \n10 -3.5 -381.718 -3.5 0 0 "
"0 1 \n";
std::string str_f =
"# Gnuplot File : forces of 1 particle(s) Monitored\n# 1st Column : "
"time, others : particle(s) number 0 \n1 0 -0.363333 0 0 0 "
"0 "
"\n2 0 -0.363333 0 0 0 0 \n3 0 -0.363333 0 0 0 0 "
"\n4 "
"0 -0.363333 0 0 0 0 \n5 0 -0.363333 0 0 0 0 \n6 0 "
"-0.363333 0 0 0 0 \n7 0 -0.363333 0 0 0 0 \n8 0 "
"-0.363333 0 0 0 0 \n9 0 -0.363333 0 0 0 0 \n10 0 "
"-0.363333 0 0 0 0 \n";
std::string str_v =
"# Gnuplot File : velocities of 1 particle(s) Monitored\n# 1st Column "
": time, others : particle(s) number 0 \n1 0 -8.91818 0 0 0 "
"0 "
"\n2 0 -17.0256 0 0 0 0 \n3 0 -24.396 0 0 0 0 "
"\n4 "
"0 -31.0964 0 0 0 0 \n5 0 -37.1876 0 0 0 0 \n6 0 "
"-42.7251 0 0 0 0 \n7 0 -47.7592 0 0 0 0 \n8 0 "
"-52.3356 0 0 0 0 \n9 0 -56.496 0 0 0 0 \n10 0 "
"-60.2782 0 0 0 0 \n";
// make a few steps before checkinf if values are correctly updated in
// Monitor
for (int i = 0; i < 10; ++i)
simulation::getSimulation()->animate(root.get(), 1.0);
monitor->testModif(mo.get());
std::string s_x = readWholeFile(monitor->d_fileName.getFullPath() + "_x.txt");
std::string s_f = readWholeFile(monitor->d_fileName.getFullPath() + "_f.txt");
std::string s_v = readWholeFile(monitor->d_fileName.getFullPath() + "_v.txt");
EXPECT_EQ(s_x, str_x);
EXPECT_EQ(s_f, str_f);
EXPECT_EQ(s_v, str_v);
std::remove(std::string(monitor->d_fileName.getFullPath() + "_x.txt").c_str());
std::remove(std::string(monitor->d_fileName.getFullPath() + "_f.txt").c_str());
std::remove(std::string(monitor->d_fileName.getFullPath() + "_v.txt").c_str());
}
bool SofaCarving_test::createScene(const std::string& carvingDistance)
{
sofa::component::initComponentBase();
sofa::component::initComponentCommon();
sofa::component::initComponentGeneral();
sofa::component::initComponentAdvanced();
sofa::component::initComponentMisc();
m_simu = createSimulation("DAG");
m_root = createRootNode(m_simu, "root");
// set scene variables
m_root->setGravity(sofa::defaulttype::Vector3(0.0, 0.0, -0.9));
m_root->setDt(0.01);
// create collision pipeline
createObject(m_root, "CollisionPipeline", { { "name","Collision Pipeline" } });
createObject(m_root, "BruteForceDetection", { { "name","Detection" } });
createObject(m_root, "CollisionResponse", {
{ "name", "Contact Manager" },
{ "response", "default" }
});
createObject(m_root, "MinProximityIntersection", { { "name","Proximity" },
{ "alarmDistance", "0.5" },
{ "contactDistance", "0.05" }
});
// create solver
createObject(m_root, "EulerImplicitSolver", { { "name","Euler Implicit" },
{ "rayleighStiffness","0.1" },
{ "rayleighMass", "0.1" }
});
createObject(m_root, "CGLinearSolver", { { "name","Conjugate Gradient" },
{ "iterations","25" },
{ "threshold", "0.000000001" },
{ "tolerance", "0.000000001" }
});
// create carving
createObject(m_root, "CarvingManager", { { "name","Carving Manager" },
{ "active","1" },
{ "carvingDistance", carvingDistance }
}
);
// create cylinder object
Node::SPtr nodeVolume = createChild(m_root, "cylinder");
createObject(nodeVolume, "MeshGmshLoader", {
{ "name","loader" },
{ "filename", sofa::helper::system::DataRepository.getFile("mesh/cylinder.msh") }
});
createObject(nodeVolume, "MechanicalObject", {
{ "name","Volume" },
{ "template","Vec3" },
{ "src", "@loader" }
});
createObject(nodeVolume, "TetrahedronSetTopologyContainer", {
{ "name","Container" },
{ "src", "@loader" }
});
createObject(nodeVolume, "TetrahedronSetTopologyModifier", {
{ "name","Modifier" }
});
createObject(nodeVolume, "TetrahedronSetTopologyAlgorithms", {
{ "name","TopoAlgo" },
{ "template", "Vec3" }
});
createObject(nodeVolume, "TetrahedronSetGeometryAlgorithms", {
{ "name","GeomAlgo" },
{ "template", "Vec3" }
});
createObject(nodeVolume, "DiagonalMass", {
{ "name", "mass" },
{ "massDensity", "0.01" }
});
createObject(nodeVolume, "BoxROI", {
{ "name", "ROI1" },
{ "template", "Vec3" },
{ "box", "-1 -1 -1 1 1 0.01" }
});
createObject(nodeVolume, "FixedConstraint", {
{ "name", "FIX1" },
{ "indices", "@ROI1.indices" }
});
createObject(nodeVolume, "TetrahedralCorotationalFEMForceField", {
{ "name", "CFEM" },
{ "poissonRatio", "0.3" },
{ "method", "large" },
{ "youngModulus", "300" }
});
// create cylinder surface
Node::SPtr nodeSurface = createChild(nodeVolume, "Surface");
createObject(nodeSurface, "TriangleSetTopologyContainer", {
{ "name","Container" }
});
createObject(nodeSurface, "TriangleSetTopologyModifier", {
{ "name","Modifier" }
});
createObject(nodeSurface, "TriangleSetTopologyAlgorithms", {
{ "name","TopoAlgo" },
{ "template", "Vec3" }
});
createObject(nodeSurface, "TriangleSetGeometryAlgorithms", {
{ "name","GeomAlgo" },
{ "template", "Vec3" }
});
createObject(nodeSurface, "Tetra2TriangleTopologicalMapping", {
{ "name","topoMap" },
{ "input", "@../Container" },
{ "output", "@Container" }
});
createObject(nodeSurface, "TriangleSet", {
{ "name", "Triangle Model" },
{ "tags", "CarvingSurface" },
{ "group", "0" }
});
createObject(nodeSurface, "PointSet", {
{ "name", "Point Model" },
{ "tags", "CarvingSurface" },
{ "group", "0" }
});
// create carving Node
Node::SPtr nodeCarv = createChild(m_root, "carvingElement");
createObject(nodeCarv, "MechanicalObject", {
{ "name","Particles" },
{ "template","Vec3" },
{ "position", "0 0 1.0" },
{ "velocity", "0 0 0" }
});
createObject(nodeCarv, "UniformMass", {
{ "name","Mass" },
{ "totalMass", "1.0" }
});
createObject(nodeCarv, "SphereModel", {
{ "name", "Sphere Model" },
{ "radius", "0.02" },
{ "tags", "CarvingTool" },
{ "group", "1" }
});
return true;
}
