//really build the sofa structure
void PMLReader::BuildStructure(GNode* root){
bodiesList.clear();
//get the MultiComponent "Bodies"
MultiComponent * bodies = (MultiComponent*) (pm->getExclusiveComponents()->getComponentByName("Bodies"));
//if none, the physical model is not properly defined, so we exit...
if(!bodies) return;
bool collisionsExist = false;
//get each body
PMLBody * body;
for (unsigned int i=0 ; i<bodies->getNumberOfSubComponents() ; i++ )
{
//create the under structure (mech model, topology, etc) to create the body
body = createBody( (StructuralComponent*) bodies->getSubComponent(i), root );
//if no problem, we put it in the scene graph
if (body) {
bodiesList.push_back(body);
if (body->hasCollisions())
collisionsExist = true;
}
}
//if at least one of the bodies wants to detect contacts, we create all objects to do this
if (collisionsExist){
DefaultPipeline * ps = new DefaultPipeline;
BruteForceDetection * bfd = new BruteForceDetection;
NewProximityIntersection * mpi = new NewProximityIntersection;
//computes the distance contact from the bounding box
VisualComputeBBoxVisitor act;
getSimulation()->init(root);
root->execute(act);
SReal dx=(act.maxBBox[0]-act.minBBox[0]);
SReal dy=(act.maxBBox[1]-act.minBBox[1]);
SReal dz=(act.maxBBox[2]-act.minBBox[2]);
SReal dmax = sqrt(dx*dx + dy*dy + dz*dz);
//maybe the ratio should be changed...
mpi->setAlarmDistance(dmax/30);
mpi->setContactDistance(dmax/40);
DefaultContactManager * contactManager = new DefaultContactManager;
TreeCollisionGroupManager * cgm = new TreeCollisionGroupManager;
root->addObject(ps);
root->addObject(bfd);
root->addObject(mpi);
root->addObject(contactManager);
root->addObject(cgm);
}
//if there is 2 bodies with the same type and some nodes in common, we merge them
processFusions(root);
sofa::simulation::getSimulation()->init(root);
}
int main(int argc, char** argv)
{
glutInit(&argc,argv);
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
sofa::gui::initMain();
sofa::gui::GUIManager::Init(argv[0]);
// The graph root node : gravity already exists in a GNode by default
GNode* groot = new GNode;
groot->setName( "root" );
groot->setGravityInWorld( Vec3dTypes::Coord(0,0,0) );
groot->setDt(0.02);
/*
* collision pipeline: instead of calling ObjectCreator
*/
// collision pipeline
DefaultPipeline* collisionPipeline = new DefaultPipeline;
collisionPipeline->setName("Collision Pipeline");
groot->addObject(collisionPipeline);
// collision detection system
BruteForceDetection* collisionDetection = new BruteForceDetection;
collisionDetection->setName("Collision Detection");
groot->addObject(collisionDetection);
// component to detection intersection
NewProximityIntersection* detectionProximity = new NewProximityIntersection;
detectionProximity->setName("Detection Proximity");
detectionProximity->setAlarmDistance(0.3);
detectionProximity->setContactDistance(0.2);
groot->addObject(detectionProximity);
// contact manager
DefaultContactManager* contactManager = new DefaultContactManager;
contactManager->setName("Contact Manager");
contactManager->setDefaultResponseType("default");
groot->addObject(contactManager);
// tree collision group
TreeCollisionGroupManager* collisionGroupManager = new TreeCollisionGroupManager;
collisionGroupManager->setName("Collision Group Manager");
groot->addObject(collisionGroupManager);
/*
* Sub nodes: DRE
*/
GNode* dreNode = new GNode;
dreNode->setName("DRE");
GNode* cylNode = new GNode;
cylNode->setName("Cylinder");
// solvers
typedef CGLinearSolver<GraphScatteredMatrix, GraphScatteredVector> CGLinearSolverGraph;
EulerImplicitSolver* implicitSolver = new EulerImplicitSolver;
CGLinearSolverGraph* cgLinearSolver = new CGLinearSolverGraph;
implicitSolver->setName("eulerImplicitSolver");
implicitSolver->f_rayleighStiffness.setValue(0.01);
//implicitSolver->f_rayleighMass.setValue(0.1);
implicitSolver->f_printLog = false;
cgLinearSolver->setName("cgLinearSolver");
cgLinearSolver->f_maxIter.setValue(25);
cgLinearSolver->f_tolerance.setValue(1.0e-9);
cgLinearSolver->f_smallDenominatorThreshold.setValue(1.0e-9);
// sparse grid topology
sofa::component::topology::SparseGridTopology* sparseGridTopology = new sofa::component::topology::SparseGridTopology;
sparseGridTopology->setName("SparseGrid Topology");
std::string topologyFilename = "mesh/truthcylinder1.obj";
sparseGridTopology->load(topologyFilename.c_str());
sparseGridTopology->setN(Vec<3,int>(8, 6, 6));
// mechanical object
typedef MechanicalObject< Vec3dTypes > MechanicalObject3d;
MechanicalObject3d* mechanicalObject = new MechanicalObject3d;
mechanicalObject->setTranslation(0,0,0);
mechanicalObject->setRotation(0,0,0);
mechanicalObject->setScale(1,1,1);
// mass
typedef UniformMass< Vec3dTypes,double > UniformMass3d;
UniformMass3d* uniformMass = new UniformMass3d;
uniformMass->setTotalMass(5);
// hexahedron fem forcefield
typedef HexahedronFEMForceField< Vec3dTypes > HexahedronFEMForceField3d;
HexahedronFEMForceField3d* hexaFEMFF = new HexahedronFEMForceField3d;
hexaFEMFF->setName("HexahedronFEM Forcefield");
hexaFEMFF->setMethod(HexahedronFEMForceField3d::POLAR);
hexaFEMFF->setPoissonRatio(0.3);
hexaFEMFF->setYoungModulus(250);
// quad bending springs
typedef sofa::component::interactionforcefield::QuadBendingSprings< Vec3dTypes > QuadBendingSprings3d;
QuadBendingSprings3d* quadBendingSprings = new QuadBendingSprings3d;
quadBendingSprings->setName("QuadBending springs");
quadBendingSprings->setStiffness(1000);
quadBendingSprings->setDamping(1);
quadBendingSprings->setObject1(mechanicalObject);
// fixed constraint
typedef FixedConstraint< StdVectorTypes<Vec<3,double>,Vec<3,double>,double> > FixedConstraint3d;
FixedConstraint3d* fixedConstraints = new FixedConstraint3d;
fixedConstraints->setName("Box Constraints");
fixedConstraints->addConstraint(0);
fixedConstraints->addConstraint(1); fixedConstraints->addConstraint(2); fixedConstraints->addConstraint(6); fixedConstraints->addConstraint(12); fixedConstraints->addConstraint(17); fixedConstraints->addConstraint(21); fixedConstraints->addConstraint(22);
fixedConstraints->addConstraint(24); fixedConstraints->addConstraint(25); fixedConstraints->addConstraint(26); fixedConstraints->addConstraint(30); fixedConstraints->addConstraint(36); fixedConstraints->addConstraint(41); fixedConstraints->addConstraint(46); fixedConstraints->addConstraint(47);
fixedConstraints->addConstraint(50); fixedConstraints->addConstraint(51); fixedConstraints->addConstraint(52); fixedConstraints->addConstraint(56); fixedConstraints->addConstraint(62); fixedConstraints->addConstraint(68); fixedConstraints->addConstraint(73); fixedConstraints->addConstraint(74);
fixedConstraints->addConstraint(77); fixedConstraints->addConstraint(78); fixedConstraints->addConstraint(79); fixedConstraints->addConstraint(83); fixedConstraints->addConstraint(89); fixedConstraints->addConstraint(95); fixedConstraints->addConstraint(100); fixedConstraints->addConstraint(101);
fixedConstraints->addConstraint(104); fixedConstraints->addConstraint(105); fixedConstraints->addConstraint(106); fixedConstraints->addConstraint(110); fixedConstraints->addConstraint(116); fixedConstraints->addConstraint(122); fixedConstraints->addConstraint(127); fixedConstraints->addConstraint(128);
fixedConstraints->addConstraint(131); fixedConstraints->addConstraint(132); fixedConstraints->addConstraint(133); fixedConstraints->addConstraint(137); fixedConstraints->addConstraint(143); fixedConstraints->addConstraint(149); fixedConstraints->addConstraint(154); fixedConstraints->addConstraint(155);
fixedConstraints->addConstraint(158); fixedConstraints->addConstraint(159); fixedConstraints->addConstraint(160); fixedConstraints->addConstraint(164); fixedConstraints->addConstraint(170); fixedConstraints->addConstraint(175); fixedConstraints->addConstraint(180); fixedConstraints->addConstraint(181);
fixedConstraints->addConstraint(184); fixedConstraints->addConstraint(185); fixedConstraints->addConstraint(186); fixedConstraints->addConstraint(190); fixedConstraints->addConstraint(196); fixedConstraints->addConstraint(201); fixedConstraints->addConstraint(206); fixedConstraints->addConstraint(205);
// visual node
GNode* cylVisualNode = new GNode;
cylVisualNode->setName("Cylinder Visual");
OglModel* cylOglModel = new OglModel;
cylOglModel->setName("Visual");
std::string visualFilename = "mesh/truthcylinder1.obj";
cylOglModel->setFilename(DataRepository.getFile(visualFilename).c_str());
cylOglModel->setColor("red");
typedef BarycentricMapping< Vec3dTypes, ExtVec3fTypes > BarycentricMapping3d_to_Ext3f;
BarycentricMapping3d_to_Ext3f* barycentricMapping = new BarycentricMapping3d_to_Ext3f(mechanicalObject, cylOglModel);
barycentricMapping->setName("Barycentric");
//barycentricMapping->setPathInputObject("../..");
//barycentricMapping->setPathOutputObject("Visual");
// collision node
GNode* cylCollisionNode = new GNode;
cylCollisionNode->setName("Cylinder Collision");
sofa::component::container::MeshLoader* cylSurfMeshLoader = new sofa::component::container::MeshLoader;
std::string collisionFilename = "mesh/truthcylinder1.msh";
cylSurfMeshLoader->setFilename(DataRepository.getFile(collisionFilename).c_str());
MeshTopology* cylSurfaceTopology = new MeshTopology;
MechanicalObject3d* cylSurfMechanicalObject = new MechanicalObject3d;
TriangleModel* triangleModel = new TriangleModel;
typedef BarycentricMapping< Vec3dTypes, Vec3dTypes > BarycentricMechanicalMapping3d_to_3d;
BarycentricMechanicalMapping3d_to_3d* cylSurfBarycentricMapping = new BarycentricMechanicalMapping3d_to_3d(mechanicalObject, cylSurfMechanicalObject);
//cylSurfBarycentricMapping->setPathInputObject("../..");
//cylSurfBarycentricMapping->setPathOutputObject("..");
cylVisualNode->addObject(cylOglModel);
cylVisualNode->addObject(barycentricMapping);
cylCollisionNode->addObject(cylSurfMeshLoader);
cylCollisionNode->addObject(cylSurfaceTopology);
cylCollisionNode->addObject(cylSurfMechanicalObject);
cylCollisionNode->addObject(triangleModel);
cylCollisionNode->addObject(cylSurfBarycentricMapping);
quadBendingSprings->setObject2(cylSurfMechanicalObject);
cylNode->addObject(implicitSolver);
cylNode->addObject(cgLinearSolver);
cylNode->addObject(sparseGridTopology);
cylNode->addObject(mechanicalObject);
cylNode->addObject(uniformMass);
cylNode->addObject(hexaFEMFF);
cylNode->addObject(quadBendingSprings);
cylNode->addObject(fixedConstraints);
cylNode->addChild(cylVisualNode);
cylNode->addChild(cylCollisionNode);
dreNode->addChild(cylNode);
groot->addChild(dreNode);
#ifdef SOFA_GPU_CUDA
sofa::gpu::cuda::mycudaInit();
#endif
// Init the scene
sofa::simulation::tree::getSimulation()->init(groot);
groot->setAnimate(false);
groot->setShowNormals(false);
groot->setShowInteractionForceFields(false);
groot->setShowMechanicalMappings(false);
groot->setShowCollisionModels(false);
groot->setShowBoundingCollisionModels(false);
groot->setShowMappings(false);
groot->setShowForceFields(true);
groot->setShowWireFrame(true);
groot->setShowVisualModels(true);
//=======================================
// Run the main loop
sofa::gui::GUIManager::MainLoop(groot);
return 0;
}
