/**
* @brief Create the physical model
*
* @param m Mass of the particle
* @param s Stiffness of the spring
* @param d Damping ratio of the spring
* @param xx0 initial position
* @param vv0 initial velocity
*/
void setup(
SReal m, SReal s, SReal d,
SReal xx0, SReal vv0
)
{
mass = m;
stiffness = s;
damping = d;
x0=xx0; v0=vv0;
node = clearScene();
node->setGravity( Vec3(0,0,0) );
// The oscillator
simulation::Node::SPtr oscillator = node->createChild("oscillator");
DOF = addNew<MechanicalObject1>(oscillator,"DOF");
DOF->resize(1);
DOF->writePositions()[0] = Vec1(x0);
DOF->writeVelocities()[0] = Vec1(v0);
UniformMass1::SPtr Mass = addNew<UniformMass1>(oscillator,"mass");
Mass->mass.setValue( mass );
compliance = addNew<UniformCompliance1>(oscillator,"compliance");
compliance->isCompliance.setValue(false);
compliance->compliance.setValue(1.0/stiffness);
compliance->damping.setValue(damping);
}
// Load the scene BezierTetrahedronTopology.sc from the Scenes directory
void createScene()
{
// GenerateCylinder object
typename sofa::component::engine::GenerateCylinder<DataTypes>::SPtr eng= sofa::modeling::addNew<sofa::component::engine::GenerateCylinder<DataTypes> >(root,"cylinder");
eng->f_radius=0.2;
eng->f_height=1.0;
// TetrahedronSetTopologyContainer object
sofa::component::topology::TetrahedronSetTopologyContainer::SPtr container1= sofa::modeling::addNew<sofa::component::topology::TetrahedronSetTopologyContainer>(root,"Container1");
sofa::modeling::setDataLink(&eng->f_tetrahedra,&container1->d_tetrahedron);
sofa::modeling::setDataLink(&eng->f_outputTetrahedraPositions,&container1->d_initPoints);
// TetrahedronSetGeometryAlgorithms object
typename sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes>::SPtr geo1= sofa::modeling::addNew<sofa::component::topology::TetrahedronSetGeometryAlgorithms<DataTypes> >(root);
// mechanicalObject object
typename MechanicalObject::SPtr meca1= sofa::modeling::addNew<MechanicalObject>(root);
sofa::modeling::setDataLink(&eng->f_outputTetrahedraPositions,&meca1->x);
// subnode
simulation::Node::SPtr bezierNode = root->createChild("BezierTetrahedronTopology");
// BezierTetrahedronSetTopologyContainer
sofa::component::topology::BezierTetrahedronSetTopologyContainer::SPtr container2= sofa::modeling::addNew<sofa::component::topology::BezierTetrahedronSetTopologyContainer>(bezierNode,"Container2");
// Mesh2BezierTopologicalMapping
sofa::component::topology::Mesh2BezierTopologicalMapping::SPtr mapping= sofa::modeling::addNew<sofa::component::topology::Mesh2BezierTopologicalMapping>(bezierNode,"Mapping");
mapping->setTopologies(container1.get(),container2.get());
mapping->bezierTetrahedronDegree=3;
// mechanicalObject object
typename MechanicalObject::SPtr meca2= sofa::modeling::addNew<MechanicalObject>(bezierNode,"BezierMechanicalObject");
// BezierTetrahedronSetGeometryAlgorithms
typename sofa::component::topology::BezierTetrahedronSetGeometryAlgorithms<DataTypes>::SPtr geo2= sofa::modeling::addNew<sofa::component::topology::BezierTetrahedronSetGeometryAlgorithms<DataTypes> >(bezierNode);
// MeshMatrixMass
typename MeshMatrixMass::SPtr mass= sofa::modeling::addNew<MeshMatrixMass >(bezierNode,"BezierMass");
mass->m_massDensity=1.0;
mass->d_integrationMethod.setValue(std::string("analytical"));
}