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[constraint] adds JointConstraint #274
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d0bbaf2
Fix v23.06 ci (#230)
olivier-roussel a62ec4c
Fix install SofaPython3 CI action. (#231)
olivier-roussel fbbbe3f
Fix source code archives assets from release branch and not master.
olivier-roussel 9e155f3
Merge pull request #234 from olivier-roussel/fix_23.06_wrong_assets_s…
olivier-roussel 1b3ef9d
First commit for JointConstraint
TanguyNav f414ef7
Solve bug in angle displacement in JointConstraint
TanguyNav 48ff4cd
Merge branch 'refs/heads/master' into JointConstraint_v23.06
EulalieCoevoet 2b9a1be
[constraint] JointConstraint: minor cleaning
EulalieCoevoet 0539767
[constraint] JointConstraint: adds en example
EulalieCoevoet 4d88c4c
[constraint] list of changes:
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71 changes: 71 additions & 0 deletions
71
examples/component/constraint/JointConstraint/JointConstraint.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| import os | ||
| from math import pi | ||
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| dirPath = os.path.dirname(os.path.abspath(__file__)) + '/' | ||
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| def createScene(rootNode): | ||
| rootNode.addObject('RequiredPlugin', name='SoftRobots') | ||
| rootNode.addObject('RequiredPlugin', name='SoftRobots.Inverse') | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct') # Needed to use components [SparseLDLSolver] | ||
| rootNode.addObject('RequiredPlugin', name='ArticulatedSystemPlugin') # Needed to use components [ArticulatedHierarchyContainer,ArticulatedSystemMapping,Articulation,ArticulationCenter] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.AnimationLoop') # Needed to use components [FreeMotionAnimationLoop] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Correction') # Needed to use components [UncoupledConstraintCorrection] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Lagrangian.Solver') # Needed to use components [GenericConstraintSolver] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective') # Needed to use components [FixedProjectiveConstraint] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Engine.Generate') # Needed to use components [GenerateRigidMass] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.IO.Mesh') # Needed to use components [MeshSTLLoader] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mapping.NonLinear') # Needed to use components [RigidMapping] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Mass') # Needed to use components [UniformMass] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward') # Needed to use components [EulerImplicitSolver] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Setting') # Needed to use components [BackgroundSetting] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic') # Needed to use components [BeamFEMForceField] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.StateContainer') # Needed to use components [MechanicalObject] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Topology.Container.Constant') # Needed to use components [MeshTopology] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.Component.Visual') # Needed to use components [VisualStyle] | ||
| rootNode.addObject('RequiredPlugin', name='Sofa.GL.Component.Rendering3D') # Needed to use components [OglModel] | ||
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| rootNode.dt = 0.01 | ||
| rootNode.gravity = [0., -9810., 0.] | ||
| rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels') | ||
| rootNode.addObject('FreeMotionAnimationLoop') | ||
| rootNode.addObject('GenericConstraintSolver', maxIterations=500, tolerance=1e-4) | ||
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| # Simulation node | ||
| simulation = rootNode.addChild('Simulation') | ||
| simulation.addObject('EulerImplicitSolver') | ||
| simulation.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd") | ||
| simulation.addObject('GenericConstraintCorrection') | ||
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| object = simulation.addChild('Object') | ||
| object.addObject('MechanicalObject', template='Vec1', position=0.) | ||
| object.addObject("RestShapeSpringsForceField", points=[0], stiffness=1e1) | ||
| # Try to change the data field "value" from the GUI | ||
| object.addObject('JointConstraint', template='Vec1', index=0, value=0, valueType="displacement", | ||
| minDisplacement=-pi, maxDisplacement=pi) | ||
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| rigid = object.addChild('Rigid') | ||
| rigid.addObject('MechanicalObject', template='Rigid3', position=[[0., 0., 0., 0., 0., 0., 1.]]*2) | ||
| rigid.addObject('UniformMass', totalMass=0.003) | ||
| rigid.addObject('ArticulatedSystemMapping', | ||
| input1=object.getMechanicalState().linkpath, | ||
| output=rigid.getMechanicalState().linkpath) | ||
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| visual = rigid.addChild('VisualModel') | ||
| visual.addObject('MeshSTLLoader', name='loader', filename=dirPath + 'mesh/arm.stl', translation=[-45, 0., 0.]) | ||
| visual.addObject('MeshTopology', src='@loader') | ||
| visual.addObject('OglModel', color=[0.9, 0.9, 0.9, 1.]) | ||
| visual.addObject('RigidMapping', index=1) | ||
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| articulationCenters = object.addChild('Articulation') | ||
| articulationCenter = articulationCenters.addChild('ArticulationCenter') | ||
| articulationCenter.addObject('ArticulationCenter', parentIndex=0, childIndex=1, | ||
| posOnParent=[0., 0., 0.], | ||
| posOnChild=[-45, 0., 0.], articulationProcess=1) | ||
| articulation = articulationCenter.addChild('Articulations') | ||
| articulation.addObject('Articulation', translation=False, rotation=True, rotationAxis=[0, 0, 1], | ||
| articulationIndex=0) | ||
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| object.addObject('ArticulatedHierarchyContainer') | ||
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| return rootNode | ||
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@EulalieCoevoet Could you make sure that this plugin is not required? Thanks
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Oups sorry. Not needed indeed.