Merge remote-tracking branch 'upstream/master' into pr-fix-for-animat…

…ion-autoreload

python3/src/splib3/numerics/quat_test.py

@@ -2,8 +2,8 @@
 from math import sin, cos, pi
 from quat import *
 
-class Quat_test(unittest.TestCase):
 
+class Quat_test(unittest.TestCase):
 
     def test_equal(self):
         q1 = Quat()
@@ -14,7 +14,6 @@ def test_equal(self):
         self.assertEqual(q1,[0.,0.,0.,1.])
         self.assertNotEqual(q1,[0.707,0.,0.,0.707])
 
-
     def test_constructors(self):
         q = Quat()
         self.assertEqual(q,[0.,0.,0.,1.])
@@ -25,48 +24,39 @@ def test_constructors(self):
         q = Quat([0.707,0.,0.,0.707])
         self.assertEqual(q,[0.707,0.,0.,0.707])
 
-
-## PUBLICS METHODS
-
+# PUBLICS METHODS
 
     def test_getNorm(self):
         q = Quat()
         self.assertEqual(q.getNorm(), 1.)
 
-
     def test_normalize(self):
         q = Quat(1.,0.,2.,2.)
         q.normalize()
         self.assertEqual(q, [1./3.,0.,2./3.,2./3.])
 
-
     def test_realPart(self):
         q = Quat()
         self.assertEqual(q.getRe(), 1.)
 
-
     def test_imaginaryPart(self):
         q = Quat(1.,2.,3.,4.)
         self.assertEqual(q.getIm()[0], 1.)
         self.assertEqual(q.getIm()[1], 2.)
         self.assertEqual(q.getIm()[2], 3.)
 
-
     def test_flip(self):
         q = Quat(0.707,0.,0.,-0.707)
         q.flip()
         self.assertEqual(q, [-0.707,0.,0.,0.707])
 
-
-
     def test_conjugate(self):
         q = Quat()
         self.assertEqual(q.getConjugate(), q)
 
         q = Quat(0.5,0.5,0.5,0.5)
         self.assertEqual(q.getConjugate(), [-0.5,-0.5,-0.5,0.5])
 
-
     def test_getInverse(self):
         q = Quat()
         self.assertEqual(q.getInverse(), q)
@@ -77,7 +67,6 @@ def test_getInverse(self):
         q = Quat(1.,1.,1.,1.)
         self.assertEqual(q.getInverse(), [-0.25,-0.25,-0.25,0.25])
 
-
     def test_getAxisAngle(self):
         q = Quat.createFromAxisAngle([1.,0.,0.],pi/3.)
         results = q.getAxisAngle()
@@ -86,23 +75,19 @@ def test_getAxisAngle(self):
         self.assertEqual(results[0][2], 0.)
         self.assertAlmostEqual(results[1], pi/3.)
 
-
     def test_getEulerAngles(self):
         q = Quat.createFromEuler([-pi/4.,0.,0.])
         e = q.getEulerAngles()
         self.assertAlmostEqual(e[0], -pi/4.)
         self.assertEqual(e[1], 0.)
         self.assertEqual(e[2], 0.)
 
-
-## STATIC METHODS
-
+# STATIC METHODS
 
     def test_createFromAxisAngle(self):
         q = Quat.createFromAxisAngle([1.,0.,0.],pi/2.)
         self.assertEqual(q, [sin(pi/4.),0.,0.,cos(pi/4.)])
 
-
     def test_createFromEuler(self):
         q = Quat.createFromEuler([pi/2.,0.,0.])
         self.assertEqual(q, [sin(pi/4.),0.,0.,cos(pi/4.)])
@@ -113,7 +98,6 @@ def test_createFromEuler(self):
         q = Quat.createFromEuler([0.,pi/2.,0.],"syxz")
         self.assertEqual(q, [sin(pi/4.),0.,0.,cos(pi/4.)])
 
-
     def test_createFromEuler_against_rotateFromQuat(self):
         q1 = Quat.createFromEuler([pi/2.,-pi/2.,0.],"rxyz")
         q2 = Quat.createFromEuler([pi/2.,0.,0.],"sxyz")
@@ -135,7 +119,6 @@ def test_createFromEuler_against_rotateFromQuat(self):
         q2.rotateFromQuat(q4)
         self.assertEqual(q1,q2)
 
-
     def test_rotateFromEuler(self):
         q = Quat.createFromAxisAngle([1., 0., 0.], pi/2.)
         q.rotateFromEuler([0.,-pi/2.,0.])

python3/src/stlib3/physics/collision/collision.py

@@ -4,7 +4,7 @@
 
 def loaderFor(name):
     if name.endswith(".obj"):
-        return "MeshObjLoader"
+        return "MeshOBJLoader"
     elif name.endswith(".stl"):
         return "MeshSTLLoader"
     elif name.endswith(".vtk"):

python3/src/stlib3/physics/mixedmaterial/rigidification.py

@@ -122,7 +122,7 @@ def mfilter(si, ai, pts):
             sourceObject.removeObject(sourceObject.solver)
         if "integration" in sourceObject.objects:
             sourceObject.removeObject(sourceObject.integration)
-        if "correction" in sourceObject:
+        if "correction" in sourceObject.objects:
             sourceObject.removeObject(sourceObject.correction)
 
         sourceObject.addObject("SubsetMultiMapping", name="mapping", template="Vec3,Vec3",

python3/src/stlib3/physics/rigid/RigidObject.py

@@ -70,7 +70,7 @@ def RigidObject(name="RigidObject",
     def addCollisionModel(inputMesh=surfaceMeshFileName):
         objectCollis = object.addChild('collision')
         objectCollis.addObject('RequiredPlugin', name='SofaMeshCollision')
-        objectCollis.addObject('MeshObjLoader', name="loader",
+        objectCollis.addObject('MeshOBJLoader', name="loader",
                             filename=inputMesh, triangulate=True,
                             scale=uniformScale)
 

python3/src/stlib3/scene/contactheader.py

@@ -33,7 +33,7 @@ def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
     applyTo.addObject('BVHNarrowPhase')
 
     applyTo.addObject('RuleBasedContactManager', responseParams="mu="+str(frictionCoef),
-                                                    name='Response', response='FrictionContact')
+                                                    name='Response', response='FrictionContactConstraint')
     applyTo.addObject('LocalMinDistance',
                         alarmDistance=alarmDistance, contactDistance=contactDistance,
                         angleCone=0.01)

python3/src/stlib3/scene/scene.py

@@ -89,13 +89,14 @@ def addSettings(plugins=plugins, repositoryPaths=repositoryPaths):
 
         root.gravity.value = gravity
         root.dt.value = dt
+        root.addObject('VisualStyle')
         root.addMainHeader = addMainHeader
         root.addSettings = addSettings
         root.addSolver = addDefaultSolver
         root.addContact = addContactHeader
         root.addModelling = addModelling
         root.addSimulation = addSimulation
-
+        
         return root
 
 

python3/src/stlib3/visuals/visualmodel.py

@@ -21,7 +21,7 @@ def init(self):
         if path.endswith('.stl'):
             self.addObject('MeshSTLLoader', name='loader',filename=path)
         elif path.endswith('.obj'):
-            self.addObject('MeshObjLoader', name='loader',filename=path)
+            self.addObject('MeshOBJLoader', name='loader',filename=path)
         else:
             print("Extension not handled in STLIB/python3/stlib3/visuals for file: "+str(path))