// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
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::simulation::tree::init();
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
sofa::component::initComponentBase();
sofa::component::initComponentCommon();
sofa::component::initComponentGeneral();
sofa::component::initComponentAdvanced();
sofa::component::initComponentMisc();
sofa::gui::initMain();
sofa::gui::GUIManager::Init(argv[0]);
// The graph root node : gravity already exists in a GNode by default
sofa::simulation::setSimulation(new sofa::simulation::tree::TreeSimulation());
sofa::simulation::Node::SPtr groot = sofa::simulation::getSimulation()->createNewGraph("root");
groot->setGravity( Coord3(0,-10,0) );
// One solver for all the graph
EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New<EulerImplicitSolver>();
solver->setName("solver");
solver->f_printLog.setValue(false);
groot->addObject(solver);
CGLinearSolver::SPtr linearSolver = New<CGLinearSolver>();
linearSolver->setName("linearSolver");
groot->addObject(linearSolver);
// 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);
DOF->showObject.setValue(true);
DOF->showObjectScale.setValue(10.);
// 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
Node::SPtr skin = groot.get()->createChild("skin");
// 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);
sofa::simulation::tree::cleanup();
return 0;
}
// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
glutInit(&argc,argv);
sofa::simulation::graph::init();
sofa::component::initComponentBase();
sofa::component::initComponentCommon();
sofa::component::initComponentGeneral();
sofa::component::initComponentAdvanced();
sofa::component::initComponentMisc();
sofa::gui::initMain();
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
// The graph root node
sofa::simulation::setSimulation(new sofa::simulation::graph::DAGSimulation());
sofa::simulation::Node::SPtr groot = sofa::simulation::getSimulation()->createNewGraph("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
sofa::simulation::Node::SPtr particule_node = groot.get()->createChild("particle_node");
// The particule, i.e, its degrees of freedom : a point with a velocity
MechanicalObject3::SPtr dof = sofa::core::objectmodel::New<MechanicalObject3>();
dof->setName("particle");
particule_node->addObject(dof);
dof->resize(1);
// get write access the particle positions vector
WriteAccessor< Data<MechanicalObject3::VecCoord> > positions = *dof->write( VecId::position() );
positions[0] = Coord3(0,0,0);
// get write access the particle velocities vector
WriteAccessor< Data<MechanicalObject3::VecDeriv> > velocities = *dof->write( VecId::velocity() );
velocities[0] = Deriv3(0,0,0);
// show the particle
dof->showObject.setValue(true);
dof->showObjectScale.setValue(10.);
// 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 );
// this currently reveals a bug
// // attach a collision surface to the particle
// SphereModel::SPtr sphere = New<SphereModel>();
// particule_node->addObject(sphere);
// sphere->defaultRadius.setValue(0.1);
// 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);
flags.setShowCollisionModels(true);
style->displayFlags.endEdit();
sofa::simulation::graph::getSimulation()->init(groot.get());
groot->setAnimate(false);
//======================================
// Set up the GUI
sofa::gui::GUIManager::Init(argv[0]);
sofa::gui::GUIManager::createGUI(groot);
sofa::gui::GUIManager::SetDimension(800,700);
// sofa::gui::GUIManager::SetFullScreen(); // why does this not work ?
//=======================================
// Run the main loop
sofa::gui::GUIManager::MainLoop(groot);
sofa::simulation::graph::cleanup();
return 0;
}