[SofaCarving] Add an example written in python

applications/plugins/SofaCarving/examples/SimpleCarving.py

@@ -0,0 +1,96 @@
+import Sofa
+import Sofa.Simulation
+
+def main():
+    root = Sofa.Core.Node("root")
+    createScene(root)
+    Sofa.Simulation.init(root)
+
+    Sofa.Gui.GUIManager.Init("myscene", "qglviewer")
+    Sofa.Gui.GUIManager.createGUI(root, __file__)
+    Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+    Sofa.Gui.GUIManager.MainLoop(root)
+    Sofa.Gui.GUIManager.closeGUI()
+
+def createScene(root):
+
+    root.gravity=[0, 0, 0]
+    root.dt=0.05
+    root.showBoundingTree = 0
+
+    # Load required plugins
+    plugins = root.addChild('Plugins')
+    plugins.addObject('RequiredPlugin', name="MechanicalLoop", pluginName="Sofa.Component.AnimationLoop Sofa.Component.ODESolver.Backward Sofa.Component.LinearSolver.Iterative Sofa.Component.Mapping.NonLinear Sofa.Component.Mapping.Linear") 
+    plugins.addObject('RequiredPlugin', name="MechanicalModel", pluginName="Sofa.Component.StateContainer Sofa.Component.Mass Sofa.Component.SolidMechanics.FEM.Elastic") 
+    plugins.addObject('RequiredPlugin', name="Collision", pluginName="Sofa.Component.Collision.Detection.Algorithm Sofa.Component.Collision.Detection.Intersection Sofa.Component.Collision.Geometry Sofa.Component.Collision.Response.Contact") 
+    plugins.addObject('RequiredPlugin', name="Constraint", pluginName="Sofa.Component.Constraint.Lagrangian.Correction Sofa.Component.Constraint.Lagrangian.Solver Sofa.Component.Constraint.Projective") 
+    plugins.addObject('RequiredPlugin', name="Topology", pluginName="Sofa.Component.Topology.Container.Constant Sofa.Component.Topology.Container.Dynamic Sofa.Component.Topology.Mapping") 
+    plugins.addObject('RequiredPlugin', name="Visual", pluginName="Sofa.Component.Visual Sofa.GL.Component.Rendering3D") 
+    plugins.addObject('RequiredPlugin', name="Utils", pluginName="Sofa.Component.IO.Mesh SofaCarving")
+
+    root.addObject('VisualStyle',displayFlags="showVisualModels")
+
+    # Add main scene pipeline components
+    root.addObject('DefaultVisualManagerLoop')
+    root.addObject('DefaultAnimationLoop')
+    root.addObject('CollisionPipeline', verbose=False, draw=False)
+    root.addObject('BruteForceBroadPhase')
+    root.addObject('BVHNarrowPhase')    
+    root.addObject('MinProximityIntersection', name="Proximity", alarmDistance=0.08, contactDistance=0.05, useSurfaceNormals=False)
+    root.addObject('CollisionResponse', response="PenalityContactForceField")
+    root.addObject('CarvingManager',active=True, carvingDistance=-0.01, narrowPhaseDetection="@narrowPhase", toolModel="@Instrument/CollisionModel/ParticleModel")
+
+     # Add Volume mechanical object to be carved
+    TT = root.addChild('TetraVolume')
+
+    TT.addObject('EulerImplicitSolver',name="cg_odesolver", printLog=False, rayleighStiffness=0.1, rayleighMass=0.1)
+    TT.addObject('CGLinearSolver', name="linear solver", iterations=25, tolerance=1.0e-9, threshold=1.0e-9)
+    TT.addObject('MeshGmshLoader', name="loader", filename="mesh/liver.msh")
+
+    TT.addObject('MechanicalObject',template="Vec3d", name="Volume", src="@loader")
+
+    TT.addObject('TetrahedronSetTopologyContainer', name="topo", src="@loader")
+    TT.addObject('TetrahedronSetTopologyModifier', name="topoMod")
+    TT.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
+
+    TT.addObject('DiagonalMass', massDensity=0.5)
+    TT.addObject('FixedConstraint', indices=[1, 3, 50])
+    TT.addObject('TetrahedralCorotationalFEMForceField', name="CFEM", youngModulus=160, poissonRatio=0.3, method="large")
+
+    # Add corresponding surface topology
+    T = TT.addChild('TriangleSurface')    
+    T.addObject('TriangleSetTopologyContainer', name="Container")
+    T.addObject('TriangleSetTopologyModifier', name="Modifier")
+    T.addObject('TriangleSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
+    T.addObject('Tetra2TriangleTopologicalMapping', input="@../topo", output="@Container")
+
+    T.addObject('TriangleCollisionModel', tags="CarvingSurface")
+
+    Visu = T.addChild('VisualModel')
+    Visu.addObject('OglModel', name="Visual", material="Default Diffuse 1 0 1 0 1 Ambient 0 1 1 1 1 Specular 1 1 1 0 1 Emissive 0 1 1 0 1 Shininess 1 100")
+    Visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")
+
+
+    # Add instrument object
+    Instrument = root.addChild('Instrument')
+    Instrument.addObject('EulerImplicitSolver', name="cg_odesolver")
+    Instrument.addObject('CGLinearSolver', name="linear solver", iterations=25, tolerance=1.0e-9, threshold=1.0e-9)
+    Instrument.addObject('MechanicalObject', template="Rigid3d", name="instrumentState", rotation=[90, 45, 0], translation=[0, 0, 1])
+    Instrument.addObject('UniformMass', template="Rigid3d", name="mass", totalMass=5.0)
+
+    visuIns = Instrument.addChild('VisualModel')
+    visuIns.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/dental_instrument_light.obj", translation=[-0.412256, -0.067639, 3.35], rotation=[180, 0, 150], handleSeams=True)
+    visuIns.addObject('OglModel',template="Vec3d", name="InstrumentVisualModel", src="@meshLoader_0", material="Default Diffuse 1 1 0.2 0.2 1 Ambient 1 0.2 0.04 0.04 1 Specular 0 1 0.2 0.2 1 Emissive 0 1 0.2 0.2 1 Shininess 0 45")
+    visuIns.addObject('RigidMapping', name="mecha mapping", input="@instrumentState", output="@InstrumentVisualModel")
+
+    colIns = Instrument.addChild('CollisionModel')
+    colIns.addObject('MechanicalObject', template="Vec3d", name="Particle", position=[-0.2, -0.2, -0.2])
+    colIns.addObject('SphereCollisionModel', name="ParticleModel", radius=0.2, tags="CarvingTool")
+    colIns.addObject('RigidMapping', name="mecha mapping", input="@instrumentState", output="@Particle")
+
+    return root
+
+
+#Function used only if this script is called from a python environment
+if __name__ == '__main__':
+    main()