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[examples] Make scene resolution independent + doc (sofa-framework#2361)
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examples/Components/animationloop/MechanicalMatrixMapper.pyscn
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| @@ -1,55 +1,93 @@ | ||
| # This Python scene requires the SofaPython3 plugin | ||
| # | ||
| # This scene shows the use of MechanicalMatrixMapper. A beam made of hexahedrons is simulated. One part is | ||
| # deformable, while the other is rigid. | ||
| # | ||
| # To achieve this behavior, the two parts are defined independently. The deformable part (respectively the rigid part) | ||
| # is defined with vec3 (respectively rigid) degrees of freedom. The two parts are joined as a single object using a | ||
| # mapping, which has both parts as input. The FEM is really computed in the mapped node. The deformable part is just a | ||
| # subset of the FEM degrees of freedom, while the rigid part is mapped on the rigid degree of freedom. | ||
| # | ||
| # SOFA does not transfer the mapped stiffness matrix naturally (on an assembled linear system). The FEM in the mapped | ||
| # node must be transferred to the global matrix system using MechanicalMatrixMapper. Otherwise, the derivatives of the | ||
| # FEM forces are considered null. | ||
| # | ||
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| import Sofa | ||
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| def createScene(rootNode): | ||
| rootNode.createObject('RequiredPlugin', name='SofaSparseSolver') | ||
| rootNode.createObject('RequiredPlugin', name='SofaBoundaryCondition') | ||
| rootNode.createObject('RequiredPlugin', name='SofaDeformable') | ||
| rootNode.createObject('RequiredPlugin', name='SofaEngine') | ||
| rootNode.createObject('RequiredPlugin', name='SofaGeneralAnimationLoop') | ||
| rootNode.createObject('RequiredPlugin', name='SofaImplicitOdeSolver') | ||
| rootNode.createObject('RequiredPlugin', name='SofaRigid') | ||
| rootNode.createObject('RequiredPlugin', name='SofaMiscMapping') | ||
| rootNode.createObject('RequiredPlugin', name='SofaSimpleFem') | ||
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| rootNode.createObject('VisualStyle', displayFlags='showCollisionModels hideMappings showForceFields') | ||
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| meshDivision = rootNode.createChild('meshDivision') | ||
| meshDivision.createObject('RegularGridTopology', name='topology', n=[2, 2, 4] , min=[-1, -1, -2], max=[1, 1, 2]) | ||
| meshOfStructure = meshDivision.createObject('MeshTopology',name='beamMesh', src="@topology") | ||
| meshDivision.createObject('MechanicalObject', template='Vec3d') | ||
| boxFixed= meshDivision.createObject('BoxROI',template="Vec3d", name='box_roi_fix',box=[-1, -1, -2.05, 1, 1, -1.5] , position="@beamMesh.position" ) | ||
| boxDeformable= meshDivision.createObject('BoxROI',template="Vec3d", name='box_roi_deformable',box=[-1, -1, -2.05, 1, 1, 1.5], position="@beamMesh.position" ) | ||
| boxRigid= meshDivision.createObject('BoxROI',template="Vec3d", name='box_roi_rigid',box=[-1, -1, 1.500001, 1, 1, 2.05], position="@beamMesh.position") | ||
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| SolverNode= rootNode.createChild('SolverNode') | ||
| SolverNode.createObject('EulerImplicitSolver') | ||
| SolverNode.createObject('SparseLDLSolver', name="ldlsolveur") | ||
| SolverNode.createObject('MechanicalMatrixMapper', template='Vec3d,Rigid3d', object1='@./deformablePartNode/beamPart1Mech', object2='@./RigidNode/rigid1', nodeToParse='@./deformablePartNode/FEMNode') | ||
| rootNode.addObject('RequiredPlugin', name='SofaSparseSolver') | ||
| rootNode.addObject('RequiredPlugin', name='SofaBoundaryCondition') | ||
| rootNode.addObject('RequiredPlugin', name='SofaDeformable') | ||
| rootNode.addObject('RequiredPlugin', name='SofaEngine') | ||
| rootNode.addObject('RequiredPlugin', name='SofaGeneralAnimationLoop') | ||
| rootNode.addObject('RequiredPlugin', name='SofaImplicitOdeSolver') | ||
| rootNode.addObject('RequiredPlugin', name='SofaRigid') | ||
| rootNode.addObject('RequiredPlugin', name='SofaMiscMapping') | ||
| rootNode.addObject('RequiredPlugin', name='SofaSimpleFem') | ||
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| rootNode.addObject('VisualStyle', displayFlags='showCollisionModels hideMappings showForceFields') | ||
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| meshDivision = rootNode.addChild('meshDivision') | ||
| meshDivision.addObject('RegularGridTopology', name='topology', n=[4, 4, 8] , min=[-1, -1, -2], max=[1, 1, 2]) | ||
| meshOfStructure = meshDivision.addObject('MeshTopology',name='beamMesh', src="@topology") | ||
| meshDivision.addObject('MechanicalObject', template='Vec3d') | ||
| boxDeformable= meshDivision.addObject('BoxROI',template="Vec3d", name='box_roi_deformable', box=[-1, -1, -2.05, 1, 1, 1.5], position="@beamMesh.position" ) | ||
| boxRigid= meshDivision.addObject('BoxROI',template="Vec3d", name='box_roi_rigid', box=[-1, -1, 1.500001, 1, 1, 2.05], position="@beamMesh.position") | ||
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| SolverNode= rootNode.addChild('SolverNode') | ||
| SolverNode.addObject('EulerImplicitSolver') | ||
| SolverNode.addObject('SparseLDLSolver', name="ldlsolveur") | ||
| SolverNode.addObject('MechanicalMatrixMapper', template='Vec3d,Rigid3d', | ||
| object1='@./deformablePartNode/beamPart1Mech', | ||
| object2='@./RigidNode/rigid1', | ||
| nodeToParse='@./deformablePartNode/FEMNode') | ||
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| ##### Deformable Part of the BEAM (Main Body) | ||
| deformablePartNode= SolverNode.createChild('deformablePartNode') | ||
| deformablePartNode.createObject('MechanicalObject', template='Vec3d',name='beamPart1Mech', position="@"+boxDeformable.getPathName()+".pointsInROI") | ||
| deformablePartNode= SolverNode.addChild('deformablePartNode') | ||
| deformablePartNode.addObject('MechanicalObject', template='Vec3d',name='beamPart1Mech', position="@"+boxDeformable.getPathName()+".pointsInROI") | ||
| deformablePartNode.addObject('BoxROI',template="Vec3d", name='box_roi_fix', box=[-1, -1, -2.05, 1, 1, -1.5], position="@beamPart1Mech.position" ) | ||
| deformablePartNode.addObject('FixedConstraint', indices='@box_roi_fix.indices') | ||
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| ##### Rigid Part of the BEAM (Top) | ||
| RigidNode= SolverNode.createChild('RigidNode') | ||
| RigidNode.createObject("MechanicalObject",template="Rigid3d",name="rigid1", position=[0, 0, 2, 0, 0, 0, 1], showObject=True, showObjectScale=0.5) | ||
| RigidifiedNode= RigidNode.createChild('RigidifiedNode') | ||
| RigidNode= SolverNode.addChild('RigidNode') | ||
| RigidNode.addObject("MechanicalObject",template="Rigid3d",name="rigid1", position=[0, 0, 2, 0, 0, 0, 1], showObject=True, showObjectScale=0.5) | ||
| RigidifiedNode= RigidNode.addChild('RigidifiedNode') | ||
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| RigidifiedNode.createObject("MechanicalObject",name="rigidMecha",template="Vec3d", position="@"+boxRigid.getPathName()+".pointsInROI") | ||
| RigidifiedNode.createObject("RigidMapping",globalToLocalCoords="true") | ||
| RigidifiedNode.addObject("MechanicalObject",name="rigidMecha",template="Vec3d", position="@"+boxRigid.getPathName()+".pointsInROI") | ||
| RigidifiedNode.addObject("RigidMapping",globalToLocalCoords="true") | ||
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| ##### COMBINED BEAM | ||
| FEMNode= deformablePartNode.createChild('FEMNode') | ||
| ##### COMBINED BEAM | ||
| FEMNode= deformablePartNode.addChild('FEMNode') | ||
| RigidifiedNode.addChild(FEMNode) | ||
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| FEMNode.createObject('MeshTopology',name='meshInput',src="@"+meshOfStructure.getPathName()) | ||
| FEMNode.createObject('MechanicalObject', template='Vec3d',name='beamMecha') | ||
| FEMNode.createObject('HexahedronFEMForceField', name='HexaFF', src="@meshInput", poissonRatio=0.49, youngModulus=2000) | ||
| FEMNode.createObject('RestShapeSpringsForceField', name='restShapeFF', points="@"+boxFixed.getPathName()+'.indices', stiffness=10000, angularStiffness=10000) | ||
| FEMNode.createObject('UniformMass', totalMass=0.1) | ||
| FEMNode.createObject('ConstantForceField', name='xMoins', indices=15, forces=[1000, 0, 0]) | ||
| FEMNode.createObject("SubsetMultiMapping",name="subsetMapping",template="Vec3d,Vec3d", input="@../beamPart1Mech @../../RigidNode/RigidifiedNode/rigidMecha",output="@./beamMecha", indexPairs="0 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 0 10 0 11 1 0 1 1 1 2 1 3") | ||
| FEMNode.addObject('MeshTopology',name='meshInput',src="@"+meshOfStructure.getPathName()) | ||
| FEMNode.addObject('MechanicalObject', template='Vec3d',name='beamMecha') | ||
| FEMNode.addObject('HexahedronFEMForceField', name='HexaFF', src="@meshInput", poissonRatio=0.49, youngModulus=2000) | ||
| FEMNode.addObject('UniformMass', totalMass=0.1) | ||
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| FEMNode.addObject('BoxROI', name='corner', box=[1, 1, 2, 1, 1, 2]) | ||
| FEMNode.addObject('ConstantForceField', name='xMoins', indices='@corner.indices', forces=[1000, 0, 0]) | ||
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| meshDivision.init() | ||
| boxDeformable.init() | ||
| boxRigid.init() | ||
| index_pairs = [ [0, 0] ] * len(meshOfStructure.position) | ||
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| i = 0 | ||
| for index in boxDeformable.indices.value: | ||
| index_pairs[index] = [0, i] | ||
| i += 1 | ||
| i = 0 | ||
| for index in boxRigid.indices.value: | ||
| index_pairs[index] = [1, i] | ||
| i += 1 | ||
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| FEMNode.addObject("SubsetMultiMapping",name="subsetMapping",template="Vec3d,Vec3d", | ||
| input="@../beamPart1Mech @../../RigidNode/RigidifiedNode/rigidMecha", | ||
| output="@./beamMecha", | ||
| indexPairs=index_pairs) | ||
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| return rootNode | ||
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| return rootNode |