ScheiklP
commented
1 week ago Test scene:
plugin_list = [
"MultiThreading", # Needed to use components [ParallelBVHNarrowPhase,ParallelBruteForceBroadPhase]
"Sofa.Component.AnimationLoop", # Needed to use components [FreeMotionAnimationLoop]
"Sofa.Component.Collision.Detection.Algorithm", # Needed to use components [CollisionPipeline]
"Sofa.Component.Collision.Detection.Intersection", # Needed to use components [MinProximityIntersection]
"Sofa.Component.Collision.Geometry", # Needed to use components [TriangleCollisionModel]
"Sofa.Component.Collision.Response.Contact", # Needed to use components [CollisionResponse]
"Sofa.Component.Constraint.Lagrangian.Correction", # Needed to use components [LinearSolverConstraintCorrection]
"Sofa.Component.Constraint.Lagrangian.Solver", # Needed to use components [GenericConstraintSolver]
"Sofa.Component.LinearSolver.Direct", # Needed to use components [SparseLDLSolver]
"Sofa.Component.Mass", # Needed to use components [UniformMass]
"Sofa.Component.ODESolver.Backward", # Needed to use components [EulerImplicitSolver]
"Sofa.Component.SolidMechanics.FEM.Elastic", # Needed to use components [TetrahedralCorotationalFEMForceField]
"Sofa.Component.StateContainer", # Needed to use components [MechanicalObject]
"Sofa.Component.Topology.Container.Dynamic", # Needed to use components [TetrahedronSetTopology]
"Sofa.Component.Visual", # Needed to use components [VisualStyle]
"Sofa.Component.Constraint.Projective", # Needed to use components [FixedProjectiveConstraint]
"Sofa.Component.Engine.Select", # Needed to use components [BoxROI]
"Sofa.Component.Topology.Container.Grid", # Needed to use components [RegularGridTopology]
"Sofa.Component.Mapping.Linear", # Needed to use components [SubsetMapping]
"Sofa.Component.LinearSolver.Iterative", # Needed to use components [CGLinearSolver]
]
def createScene(root):
for plugin in plugin_list:
root.addObject("RequiredPlugin", name=plugin)
root.gravity = [0.0, -9.81, 0.0]
root.dt = 0.01
root.addObject("FreeMotionAnimationLoop")
root.addObject("VisualStyle", displayFlags=["showForceFields", "showBehaviorModels", "showCollisionModels"])
root.addObject("CollisionPipeline")
root.addObject("ParallelBruteForceBroadPhase")
root.addObject("ParallelBVHNarrowPhase")
root.addObject("MinProximityIntersection", alarmDistance=5.0, contactDistance=1.0)
root.addObject("CollisionResponse", response="FrictionContactConstraint")
root.addObject("GenericConstraintSolver")
scene_node = root.addChild("scene")
topology_node = scene_node.addChild("topology")
topology_node.addObject("RegularGridTopology", nx=5, ny=5, nz=5, xmin=-10.0, xmax=10.0, ymin=-10.0, ymax=10.0, zmin=-10.0, zmax=10.0)
topology_node.addObject("TetrahedronSetTopologyContainer")
topology_node.addObject("TetrahedronSetTopologyModifier")
topology_node.addObject("Hexa2TetraTopologicalMapping", input="@RegularGridTopology", output="@TetrahedronSetTopologyContainer")
topology_node.init()
positions = topology_node.RegularGridTopology.position.array()
tetrahedra = topology_node.TetrahedronSetTopologyContainer.tetrahedra.array()
first_positions = [point.tolist() for point in positions if point[1] <= 0.1]
first_tetrahedra = []
for tetra in tetrahedra:
tetra_positions = [positions[index] for index in tetra]
if all([point[1] <= 0.1 for point in tetra_positions]):
# find the corresponding indices in the first_positions
new_tetra = [first_positions.index(point.tolist()) for point in tetra_positions]
first_tetrahedra.append(new_tetra)
first_subset_indices = []
for index, point in enumerate(positions):
if point[1] <= 0.1:
first_subset_indices.append(index)
second_positions = [point.tolist() for point in positions if point[1] >= -0.1]
second_tetrahedra = []
for tetra in tetrahedra:
tetra_positions = [positions[index] for index in tetra]
if all([point[1] >= -0.1 for point in tetra_positions]):
# find the corresponding indices in the second_positions
new_tetra = [second_positions.index(point.tolist()) for point in tetra_positions]
second_tetrahedra.append(new_tetra)
second_subset_indices = []
for index, point in enumerate(positions):
if point[1] >= -0.1:
second_subset_indices
hybrid_object_node = scene_node.addChild("hybrid_object")
hybrid_object_node.addObject("TetrahedronSetTopologyContainer", position=positions, tetrahedra=tetrahedra)
hybrid_object_node.addObject("TetrahedronSetTopologyModifier")
hybrid_object_node.addObject("EulerImplicitSolver")
hybrid_object_node.addObject("SparseLDLSolver", template="CompressedRowSparseMatrixMat3x3d")
hybrid_object_node.addObject("MechanicalObject", showObject=True)
hybrid_object_node.addObject("BoxROI", box=[-10.0, -10.0, -10.0, 10.0, -9.0, 10.0])
hybrid_object_node.addObject("FixedProjectiveConstraint", indices="@BoxROI.indices")
hybrid_object_node.addObject("TriangleCollisionModel")
hybrid_object_node.addObject("LinearSolverConstraintCorrection")
first_part_node = hybrid_object_node.addChild("first_part")
first_part_node.addObject(
"TetrahedronSetTopologyContainer",
position=first_positions,
tetrahedra=first_tetrahedra,
)
first_part_node.addObject("TetrahedronSetTopologyModifier")
first_part_node.addObject("TetrahedronSetGeometryAlgorithms", template="Vec3")
first_part_node.addObject(
"SubsetTopologicalMapping",
input="@../TetrahedronSetTopologyContainer",
output="@TetrahedronSetTopologyContainer",
samePoints=False,
handleTriangles=True,
handleTetrahedra=True,
)
first_part_node.addObject("MechanicalObject")
first_part_node.addObject("TetrahedralCorotationalFEMForceField", youngModulus=1000, poissonRatio=0.3)
first_part_node.addObject("UniformMass", totalMass=1.0)
first_part_node.addObject("SubsetMapping", indices=first_subset_indices, handleTopologyChange=True)
second_part_node = hybrid_object_node.addChild("second_part")
second_part_node.addObject(
"TetrahedronSetTopologyContainer",
position=second_positions,
tetrahedra=second_tetrahedra,
)
second_part_node.addObject("TetrahedronSetTopologyModifier")
second_part_node.addObject("TetrahedronSetGeometryAlgorithms", template="Vec3")
second_part_node.addObject(
"SubsetTopologicalMapping",
input="@../TetrahedronSetTopologyContainer",
output="@TetrahedronSetTopologyContainer",
samePoints=False,
handleTriangles=True,
handleTetrahedra=True,
)
second_part_node.addObject("MechanicalObject")
second_part_node.addObject("TetrahedralCorotationalFEMForceField", youngModulus=1000, poissonRatio=0.3)
second_part_node.addObject("UniformMass", totalMass=1.0)
second_part_node.addObject("SubsetMapping", indices=second_subset_indices, handleTopologyChange=True)
Bonjour, I am currently adding TETRA topology changes in SubsetTopologicalMapping.
This first commit is just a WIP commit for the REMOVE case to get your feedback. If the style and content is ok, I will also implement the ADD case. In particular, I am unsure about the line
toTetrahedronMod->removeTetrahedra(tetra_array_buffer_destination, false);TheremoveTriangledistinguishes between different topology types of isolated items, whileremoveTetrahedradoes not. Should this thus just set to be false?I also think that the naive implementation of following the TRIANGLESREMOVED is invalid.
Cheers, Paul