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Lucas-TJLucas Burel
Lucas-TJ
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Lucas Burel
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[Examples] Add simple example scenes (#15)
* [examples] Update scene * clean example from folder xml/combo * fix paths 200shellComputationAnevrism * remove comments + move LCPConstraintSolver * clean examples 30/04 * fix last commit * Added example scenes * fix example scenes * Delete doc/VRIPHYS2012/vriphys2012.pdf * Delete doc/Vrst2013/vrst2013.pdf --------- Co-authored-by: Lucas Burel <lucas.burel@inria.fr>
1 parent 9843409 commit 0816b1c

18 files changed

Lines changed: 1087 additions & 602 deletions

‎examples/xml/testClampedSquare.scn‎

Lines changed: 42 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -1,33 +1,60 @@
1-
<Node name="root" dt="0.01" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
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<?xml version="1.0"?>
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<Node name="root" dt="0.01" gravity="0 0 0">
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<Node name="plugins">
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<RequiredPlugin name="Shell"/>
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<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
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<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
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<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
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<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
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<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
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<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
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<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
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<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
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<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
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<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
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<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
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<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
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<RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
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<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
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<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
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<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
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<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
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<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->
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</Node>
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<VisualStyle displayFlags="showBehaviorModels hideMappings hideForceFields showVisualModels"/>
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<DefaultAnimationLoop/>
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<Node name="SmallSquare" activated="true">
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<!-- <EulerImplicitSolver/>-->
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<StaticSolver/>
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<EulerImplicitSolver/>
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<!--<StaticSolver/>-->
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<CGLinearSolver iterations="500" tolerance="1e-15" threshold="1e-15"/>
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<!-- <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
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<TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/square5x5.obj"/>
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<MechanicalObject name="tri" template="Rigid"/>
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<MeshOBJLoader name="loader" filename="../../../Shell/mesh/square5x5.obj"/>
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<TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
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<MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />
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11-
<!-- <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
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<!-- <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
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<BoxROI name="Side1" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
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<FixedConstraint indices="@Side1.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@Side1.indices" drawSize="0"/>
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<BoxROI name="Side2" box="-5.1 5.1 -0.1 5.1 4.9 0.1" drawSize="0"/>
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<FixedConstraint indices="@Side2.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@Side2.indices" drawSize="0"/>
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<BoxROI name="Side3" box="5.1 5.1 -0.1 4.9 -5.1 0.1" drawSize="0"/>
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<FixedConstraint indices="@Side3.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@Side3.indices" drawSize="0"/>
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<BoxROI name="Side4" box="5.1 -5.1 -0.1 -5.1 -4.9 0.1" drawSize="0"/>
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<FixedConstraint indices="@Side4.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@Side4.indices" drawSize="0"/>
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<ConstantForceField points="0-24" forces="0 0 11.1 0 0 0"/>
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<ConstantForceField indices="0-24" forces="0 0 11.1 0 0 0"/>
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<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.3" thickness="0.1" />
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<Node name="SubTriangles">
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<TriangleSetTopologyContainer name="subTrianglesTopo"/>
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<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
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<MechanicalObject name="subPoints" />
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<BendingPlateMechanicalMapping />
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<Triangle/>
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<!-- <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
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--> <MechanicalObject name="subPoints" topology="@subTrianglesTopo" />
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<BendingPlateMechanicalMapping input="@../tri" output="@subPoints" />
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<TriangleCollisionModel/>
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</Node>
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</Node>

‎examples/xml/testContacts.scn‎

Lines changed: 68 additions & 38 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,45 @@
1-
<Node name="root" dt="0.01" gravity="0 -10 0" showBehaviorModels="1" showCollisionModels="1">
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<?xml version="1.0"?>
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<Node name="root" dt="0.01" gravity="0 -10 0" >
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<Node name="plugins">
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<RequiredPlugin name="Shell"/>
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<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
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<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
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<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
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<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
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<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
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<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
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<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
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<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
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<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
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<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
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<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
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<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
18+
<RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
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<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
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<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
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<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
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<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
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<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->
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<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase,BruteForceBroadPhase,CollisionPipeline] -->
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<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
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<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
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<RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->
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<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField] -->
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</Node>
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<VisualStyle displayFlags="showBehaviorModels showCollisionModels"/>
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<DefaultAnimationLoop/>
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<!-- <MasterContactSolver name="MasterSolver" maxIt="5000" tolerance="0.00000001" displayTime="true" printLog="0" mu="0.1"/>-->
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<CollisionPipeline verbose="0" />
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<BruteForceDetection name="N2" />
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<CollisionResponse />
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<BruteForceBroadPhase name="N2"/>
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<BVHNarrowPhase/>
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<CollisionResponse name="response" response="PenaltyContactForceField" />
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<MinProximityIntersection name="Proximity" alarmDistance="0.005" contactDistance="0.001"/>
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<CollisionGroup />
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<Node name="pointA">
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<MechanicalObject template="Rigid" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
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<MechanicalObject template="Rigid3" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
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</Node>
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@@ -18,27 +50,24 @@
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<MechanicalObject name="ArticulatedObject" template="Vec1d"/>
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<Node name="6D_DOFs1">
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<MechanicalObject name="6D_Dof" template="Rigid"/>
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<UniformMass totalmass="1" showAxisSizeFactor="0.001"/>
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<ArticulatedSystemMapping object1="ArticulatedObject" object2="6D_Dof"/>
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<MechanicalObject name="6D_Dof" template="Rigid3"/>
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<UniformMass totalMass="1" showAxisSizeFactor="0.001"/>
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<ArticulatedSystemMapping input1="@../ArticulatedObject" output="@6D_Dof"/>
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</Node>
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<ArticulatedHierarchyContainer filename="BeamMotionInTube.bvh"/>
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<ArticulatedHierarchyBVHController />
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</Node>
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<Node name="Beam">
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<EulerImplicit rayleighStiffness="0" printLog="false" />
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<EulerImplicitSolver rayleighStiffness="0" printLog="false" />
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<!-- <BTDLinearSolver template="NewMatBand" bandWidth="11" printLog="false" verbose="false" />-->
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<SparseLDLSolver name="SparseLDL Solver" printLog="false" />
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<MechanicalObject template="Rigid" name="DOFs" position="-0.03 0 0 0 0 0 1 -0.02 0 0 0 0 0 1 -0.01 0 0 0 0 0 1 0 0 0 0 0 0 1 0.01 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.03 0 0 0 0 0 1 0.04 0 0 0 0 0 1" />
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<Mesh name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
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<AttachConstraint name="Constraint" object2="DOFs" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
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<UniformMass mass="0.5 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.1 ]" totalMass="0.2" showAxisSizeFactor="0.01" printLog="false" />
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<SparseLDLSolver name="SparseLDL Solver" printLog="false" template="CompressedRowSparseMatrixd"/>
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<MechanicalObject template="Rigid3" name="DOFs" position="-0.03 0 0 0 0 0 1 -0.02 0 0 0 0 0 1 -0.01 0 0 0 0 0 1 0 0 0 0 0 0 1 0.01 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.03 0 0 0 0 0 1 0.04 0 0 0 0 0 1" />
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<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
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<!--<AttachProjectiveConstraint name="Constraint" object2="@DOFs" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />-->
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<FixedProjectiveConstraint indices="0"/>
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<UniformMass vertexMass="0.5 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.1 ]" showAxisSizeFactor="0.01" printLog="false" />
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<BeamFEMForceField name="FEM" radius="0.01" youngModulus="1e6" />
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<!-- <RestShapeSpringsForceField points="7" stiffness="1e6" angularStiffness="1e6" external_rest_shape="../Motion/6D_DOFs1/6D_Dof" external_points="1"/>-->
@@ -47,55 +76,56 @@
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<!-- <CubeTopology nx="2" ny="15" nz="2" min="0.001 -0.03 -0.001" max="-0.001 0.04 0.001" />-->
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<!-- <MechanicalObject />-->
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<!-- <BeamLinearMapping isMechanical="true" localCoord="false"/>-->
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<!-- <Triangle />-->
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<!-- <TriangleCollisionModel />-->
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<!-- </Node>-->
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<Node name="Collision">
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<CubeTopology nx="15" ny="2" nz="2" min="0 -0.1 -0.1" max="7 0.1 0.1" />
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<MechanicalObject />
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<BeamLinearMapping isMechanical="true" localCoord="true"/>
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<Triangle contactStiffness="1e4" bothSide="1"/>
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<Line contactStiffness="1e4" bothSide="1"/>
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<Point contactStiffness="1e4" bothSide="1"/>
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<TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
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<LineCollisionModel contactStiffness="1e4" bothSide="1"/>
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<PointCollisionModel contactStiffness="1e4" bothSide="1"/>
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</Node>
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</Node>
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<Node name="Rest_colon">
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<MeshLoader name="rest_shape" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
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<Mesh/>
68-
<Vertex2Frame name="RestVertex2Frame" template="Rigid" invertNormals="false" vertices="@rest_shape.vertices" normals="@rest_shape.normals" />
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<MeshOBJLoader name="rest_shape" filename="../../../Shell/mesh/fake_colon.obj"/>
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<MeshTopology/>
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<Vertex2Frame name="RestVertex2Frame" template="Rigid3" invertNormals="false" position="@rest_shape.position" normals="@rest_shape.normals" />
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</Node>
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<Node name="Fake_colon" activated="true">
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<EulerImplicitSolver/>
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<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
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<TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
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<MechanicalObject name="colon" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" />
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<MeshOBJLoader name="loader" filename="../../../Shell/mesh/fake_colon.obj" />
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<TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
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<MechanicalObject name="colon" template="Rigid3" showIndices="false" showIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" topology="@trianglesTopo"/>
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<UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.003" totalmass="3" />
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<UniformMass showAxisSizeFactor="0.003" totalMass="3" />
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<BoxROI name="box1" box="-0.065 -0.03 -0.03 -0.06 0.03 0.03" drawSize="0"/>
81-
<FixedConstraint indices="@box1.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@box1.indices" drawSize="0"/>
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<BoxROI name="box2" box="0.06 -0.03 -0.03 0.065 0.03 0.03" drawSize="0"/>
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<FixedConstraint indices="@box2.indices" drawSize="0"/>
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<FixedProjectiveConstraint indices="@box2.indices" drawSize="0"/>
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<FixedRotationConstraint FixedZRotation="true"/>
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<FixedRotationProjectiveConstraint FixedZRotation="true"/>
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<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1e5" poissonRatio="0.42" thickness="0.001" />
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<Node name="SubTriangles">
89119
<TriangleSetTopologyContainer name="subTrianglesTopo"/>
90-
<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>
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<MechanicalObject name="subPoints" />
92-
<BendingPlateMechanicalMapping />
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<Triangle contactStiffness="1e4" bothSide="1"/>
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<Line contactStiffness="1e4" bothSide="1"/>
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<Point contactStiffness="1e4" bothSide="1"/>
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<!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>-->
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<MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
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<BendingPlateMechanicalMapping input="@../colon" output="@subPoints"/>
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<TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
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<LineCollisionModel contactStiffness="1e4" bothSide="1"/>
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<PointCollisionModel contactStiffness="1e4" bothSide="1"/>
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<Node name="visual">
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<OglModel name="Visual" color="red"/>
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<IdentityMapping object1="subPoints" object2="Visual"/>
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<IdentityMapping input="@../subPoints" output="@Visual"/>
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</Node>
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</Node>
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