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[examples] Update all plugins and remove DefaultVisualManagerLoop #300

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9e05bfe
[examples] Update all plugins and remove DefaultVisualManagerLoop
hugtalbot Sep 2, 2022
7e2f7e5
Update examples/loadXMLfromPython.py
hugtalbot Sep 7, 2022
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8 changes: 5 additions & 3 deletions examples/access_compliance_matrix.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,9 @@ def createScene(root):
"Sofa.Component.Mapping.MappedMatrix",
"Sofa.Component.Mass",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.Topology.Container.Dynamic"])
"Sofa.Component.Topology.Container.Dynamic",
"Sofa.Component.Mapping.NonLinear",
"Sofa.Component.StateContainer"])

root.addObject("FreeMotionAnimationLoop", solveVelocityConstraintFirst=True)
constraint_solver = root.addObject("GenericConstraintSolver", tolerance=1e-9, maxIterations=1000)
Expand All @@ -27,7 +29,7 @@ def createScene(root):
root.addObject("SparseCholeskySolver")
root.addObject("GenericConstraintCorrection")

root.addObject("EdgeSetTopologyContainer", position="@loader.position", edges="@loader.edges")
root.addObject("EdgeSetTopologyContainer", name="topo", position="@loader.position", edges="@loader.edges")
root.addObject("MechanicalObject", name="defoDOF", template="Vec3d")
root.addObject("EdgeSetGeometryAlgorithms", drawEdges=True)
root.addObject("FixedConstraint", indices=[0])
Expand All @@ -36,7 +38,7 @@ def createScene(root):

ext = root.addChild("extensionsNode")
ext.addObject("MechanicalObject", template="Vec1d", name="extensionsDOF")
ext.addObject("DistanceMapping", name="distanceMapping")
ext.addObject("DistanceMapping", name="distanceMapping", topology="@../topo")
ext.addObject("UniformConstraint", template="Vec1d", iterative=True)

root.addObject(MatrixAccessController('MatrixAccessor', name='matrixAccessor', constraint_solver=constraint_solver))
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10 changes: 10 additions & 0 deletions examples/access_mass_matrix.py
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Expand Up @@ -20,6 +20,16 @@ def createScene(root):
root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('SparseLDLSolver', applyPermutation="false", template="CompressedRowSparseMatrixd")

root.addObject('RequiredPlugin', pluginName=["Sofa.Component.Constraint.Projective",
"Sofa.Component.Engine.Select",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.LinearSolver.Direct",
"Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Mass",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Grid",
"Sofa.Component.Visual"])

root.addObject('MechanicalObject', name="DoFs")
mass = root.addObject('MeshMatrixMass', name="mass", totalMass="320")
root.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
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14 changes: 9 additions & 5 deletions examples/access_matrix.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,11 +12,15 @@ def createScene(root):
root.addObject('DefaultAnimationLoop')
root.addObject('DefaultVisualManagerLoop')

root.addObject('RequiredPlugin', name='Sofa.Component.ODESolver.Backward')
root.addObject('RequiredPlugin', name='Sofa.Component.LinearSolver.Direct')
root.addObject('RequiredPlugin', name='Sofa.Component.Engine.Select')
root.addObject('RequiredPlugin', name='Sofa.Component.Constraint.Projective')
root.addObject('RequiredPlugin', name='Sofa.Component.SolidMechanics.FEM.Elastic')
root.addObject('RequiredPlugin', pluginName=["Sofa.Component.Constraint.Projective",
"Sofa.Component.Engine.Select",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.LinearSolver.Direct",
"Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Mass",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Grid",
"Sofa.Component.Visual"])

root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
linear_solver = root.addObject('SparseLDLSolver', applyPermutation="false", template="CompressedRowSparseMatrixMat3x3d")
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10 changes: 10 additions & 0 deletions examples/access_stiffness_matrix.py
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,16 @@ def createScene(root):
root.addObject('DefaultAnimationLoop')
root.addObject('DefaultVisualManagerLoop')

root.addObject('RequiredPlugin', pluginName=["Sofa.Component.Constraint.Projective",
"Sofa.Component.Engine.Select",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.LinearSolver.Direct",
"Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Mass",
"Sofa.Component.StateContainer",
"Sofa.Component.Topology.Container.Grid",
"Sofa.Component.Visual"])

root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('SparseLDLSolver', applyPermutation="false", template="CompressedRowSparseMatrixd")

Expand Down
6 changes: 1 addition & 5 deletions examples/basic-addGUI.py
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Expand Up @@ -9,9 +9,6 @@
def main():
import SofaRuntime
import Sofa.Gui
# Make sure to load all SOFA libraries
SofaRuntime.importPlugin("Sofa.Component.StateContainer")
SofaRuntime.importPlugin("SofaOpenglVisual")

#Create the root node
root = Sofa.Core.Node("root")
Expand Down Expand Up @@ -39,8 +36,7 @@ def main():

# Function called when the scene graph is being created
def createScene(root):
# Scene must now include a VisualLoop
root.addObject('DefaultVisualManagerLoop')
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@damienmarchal damienmarchal Sep 14, 2022

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Why removing the DefaultVisualManagerLoop ? Isn't it better to have it explicit

root.addObject("RequiredPlugin", pluginName=["Sofa.Component.StateContainer"])

# Scene must now include a AnimationLoop
root.addObject('DefaultAnimationLoop')
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3 changes: 3 additions & 0 deletions examples/basic.py
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Expand Up @@ -29,6 +29,9 @@ def createScene(root):
node1 = root.addChild("Node1")
node2 = root.addChild("Node2")

root.addObject("RequiredPlugin", pluginName=["Sofa.Component.StateContainer"])
root.addObject('DefaultAnimationLoop')

node1.addObject("MechanicalObject", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="1")

node2.addObject("MechanicalObject", template="Rigid3d", position="1 1 1 0 0 0 1", showObject="1")
Expand Down
1 change: 0 additions & 1 deletion examples/emptyController.py
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Expand Up @@ -95,7 +95,6 @@ def createScene(root):
def main():
import SofaRuntime
import Sofa.Gui
SofaRuntime.importPlugin("SofaOpenglVisual")
root=Sofa.Core.Node("root")
createScene(root)

Expand Down
5 changes: 3 additions & 2 deletions examples/emptyDataEngine.py
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Expand Up @@ -22,7 +22,9 @@ def update():

def createScene(root):
root.dt = 0.01
root.addObject('DefaultVisualManagerLoop')
root.bbox = [[0, 0, 0],[1,1,1]]

root.addObject('DefaultAnimationLoop')

# Add our python forcefield in the scene
root.addObject( EmptyDataEngine(name="MyEmptyDataEngine") )
Expand All @@ -31,7 +33,6 @@ def createScene(root):
def main():
import Sofa.Gui
import SofaRuntime
SofaRuntime.importPlugin("SofaOpenglVisual")
root=Sofa.Core.Node("root")
createScene(root)
Sofa.Simulation.init(root)
Expand Down
5 changes: 4 additions & 1 deletion examples/emptyForceField.py
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Expand Up @@ -37,7 +37,10 @@ def addKToMatrix(self, mparams, nNodes, nDofs):

def createScene(root):
root.dt = 0.01
root.addObject('DefaultVisualManagerLoop')
root.bbox = [[0, 0, 0],[1,1,1]]

root.addObject("RequiredPlugin", pluginName=["Sofa.Component.LinearSolver.Iterative", "Sofa.Component.ODESolver.Backward",
"Sofa.Component.StateContainer"])
root.addObject('DefaultAnimationLoop')

node1 = root.addChild("Node1")
Expand Down
17 changes: 10 additions & 7 deletions examples/example-forcefield.py
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Expand Up @@ -30,10 +30,16 @@ def addDForce(self, df, dx, params):


def createScene(node):
node.addObject("RequiredPlugin", name="Sofa.GL.Component")
node.addObject("RequiredPlugin", name="Sofa.Component.LinearSolver.Direct")
node.addObject("RequiredPlugin", name="Sofa.Component.ODESolver.Backward")
node.addObject("OglLineAxis")
node.addObject("RequiredPlugin", pluginName=["Sofa.GL.Component",
"Sofa.Component.LinearSolver.Direct",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
"Sofa.Component.StateContainer",
"Sofa.Component.Visual"])

node.addObject("LineAxis")
node.addObject("DefaultAnimationLoop", name="loop")
node.addObject("EulerImplicitSolver")
node.addObject("CGLinearSolver", tolerance=1e-12, threshold=1e-12, iterations=25)
Expand All @@ -53,9 +59,6 @@ def createScene(node):
def main():
import SofaRuntime
import Sofa.Gui
SofaRuntime.importPlugin("SofaOpenglVisual")
SofaRuntime.importPlugin("Sofa.Component.StateContainer")
SofaRuntime.importPlugin("SofaImplicitOdeSolver")

root=Sofa.Core.Node("root")
createScene(root)
Expand Down
25 changes: 21 additions & 4 deletions examples/liver-scriptcontroller.py
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Expand Up @@ -29,17 +29,34 @@ def createScene(root):
root.gravity=[0, -9.81, 0]
root.dt=0.02

root.addObject('DefaultVisualManagerLoop')
root.addObject("RequiredPlugin", pluginName=["Sofa.Component.Collision.Detection.Intersection",
"Sofa.Component.Collision.Detection.Algorithm",
"Sofa.Component.AnimationLoop",
"Sofa.Component.Collision.Geometry",
"Sofa.Component.Collision.Response.Contact",
"Sofa.Component.Constraint.Projective",
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Mapping.Linear",
"Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Visual",
"Sofa.GL.Component.Rendering3D",
"Sofa.Component.Topology.Container.Dynamic"])

root.addObject('DefaultAnimationLoop')


root.addObject('VisualStyle', displayFlags="showCollisionModels hideVisualModels showForceFields")
root.addObject('RequiredPlugin', pluginName="SofaImplicitOdeSolver SofaLoader SofaOpenglVisual SofaBoundaryCondition SofaGeneralLoader SofaGeneralSimpleFem")
root.addObject('DefaultPipeline', name="CollisionPipeline")
root.addObject('BruteForceDetection', name="N2")
root.addObject('BruteForceBroadPhase', name="BruteForce")
root.addObject('BVHNarrowPhase', name="BVHNarrow")
root.addObject('DefaultContactManager', name="CollisionResponse", response="PenalityContactForceField")
root.addObject('DiscreteIntersection')

root.addObject('MeshObjLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")
root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")

liver = root.addChild('Liver')
liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness=0.1, rayleighMass=0.1)
Expand Down
20 changes: 17 additions & 3 deletions examples/liver.py
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Expand Up @@ -31,18 +31,32 @@ def createScene(root):
root.gravity=[0, -9.81, 0]
root.dt=0.02

root.addObject('DefaultVisualManagerLoop')
root.addObject('DefaultAnimationLoop')

root.addObject("RequiredPlugin", pluginName=["Sofa.Component.Collision.Detection.Intersection",
"Sofa.Component.Collision.Detection.Algorithm",
"Sofa.Component.Collision.Geometry",
"Sofa.Component.Collision.Response.Contact",
"Sofa.Component.Constraint.Projective",
"Sofa.Component.IO.Mesh",
"Sofa.Component.LinearSolver.Iterative",
"Sofa.Component.Mass",
"Sofa.Component.ODESolver.Backward",
"Sofa.Component.StateContainer",
"Sofa.Component.Mapping.Linear",
"Sofa.Component.SolidMechanics.FEM.Elastic",
"Sofa.Component.Visual",
"Sofa.GL.Component.Rendering3D",
"Sofa.Component.Topology.Container.Dynamic"])

root.addObject('VisualStyle', displayFlags="showCollisionModels")
root.addObject('RequiredPlugin', pluginName="Sofa.Component")
root.addObject('DefaultPipeline', name="CollisionPipeline")
root.addObject('BruteForceBroadPhase', name="BroadPhase")
root.addObject('BVHNarrowPhase', name="NarrowPhase")
root.addObject('DefaultContactManager', name="CollisionResponse", response="PenalityContactForceField")
root.addObject('DiscreteIntersection')

root.addObject('MeshObjLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")
root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")

liver = root.addChild('Liver')
liver.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
Expand Down
5 changes: 2 additions & 3 deletions examples/loadXMLfromPython.py
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Expand Up @@ -7,9 +7,8 @@ def createScene(root):
# Call the above function to create the scene graph
scene="""
<Node dt="0.005" gravity="0 0 0">
<RequiredPlugin name="SofaOpenglVisual" />
<DefaultVisualManagerLoop/>
<DefaultAnimationLoop/>
<RequiredPlugin name="Sofa.Component.StateContainer"/>
<DefaultAnimationLoop,/>

<Node name="child1">
<MechanicalObject template="Rigid3d" position="0 0 0 0 0 0 1" showObject="1"/>
Expand Down
7 changes: 6 additions & 1 deletion examples/springForceField.py
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Expand Up @@ -5,9 +5,14 @@

def createScene(root):
root.gravity = [0, -9.81, 0]
root.bbox = [[0, 0, 0],[1,1,1]]

root.addObject('DefaultAnimationLoop')
root.addObject('DefaultVisualManagerLoop')
root.addObject("RequiredPlugin", pluginName=["Sofa.Component.IO.Mesh", "Sofa.Component.Mass",
"Sofa.Component.LinearSolver.Iterative", "Sofa.Component.MechanicalLoad",
"Sofa.Component.Mapping.NonLinear", "Sofa.Component.ODESolver.Backward",
"Sofa.Component.SolidMechanics.Spring", "Sofa.Component.StateContainer",
"Sofa.GL.Component.Rendering3D"])

surface_node = root.addChild('Surface')
surface_loader = surface_node.addObject('MeshOBJLoader', name='surface_loader', filename='mesh/ball.obj')
Expand Down