using sofa::helper::system::DataRepository;
using sofa::core::Mapping;
using sofa::core::componentmodel::behavior:MechanicalState;
using sofa::core::componentmodel::behavior::MappedModel;
using sofa::component::mapping::BarycentricMapping;
using sofa::component::mapping::SurfaceIdentityMapping;
using sofa::component::visualmodel::GLExtVec3fTypes;
typedef sofa::defaulttype::Vec3Types MyTypes;
typedef MyTypes::Deriv Vec3;
typedef GLExtVec3fTypes OglTypes;
typedef MechanicalState<MyTypes> MyMechanicalState;
typedef MappedModel<OglTypes> OglMappedModel;
typedef SurfaceIdentityMapping< Mapping
< MyMechanicalState, OglMappedModel > > MyMapping;
int main(int argc, char** argv)
{
parse("This is a SOFA application.")
(argc,argv);
sofa::gui::SofaGUI::Init(argv[0]);
/*
Root of the scene graph
*/
/// Creation of the graph root node
sofa::simulation::tree::GNode* groot =
new sofa::simulation::tree::GNode;
groot->setName("root");
/*
Properties for all the graph:
objects directly relied to the root
*/
/// Pipeline for all the graph
// Default collision detection and modeling pipeline
sofa::component::collision::DefaultPipeline* pipeline =
new sofa::component::collision::DefaultPipeline();
pipeline->setName("Pipeline");
groot->addObject(pipeline);
/// Collision detection treatement for all the graph
sofa::component::collision::BruteForceDetection* force_detect =
new sofa::component::collision::BruteForceDetection;
force_detect->setName("N2");
groot->addObject(force_detect);
/// Proximity intersection for all the graph
sofa::component::collision::ProximityIntersection* proximity_intersection
= new sofa::component::collision::ProximityIntersection();
proximity_intersection->setName("Proximity");
proximity_intersection->setAlarmDistance(0.8);
proximity_intersection->setContactDistance(0.5);
groot->addObject(proximity_intersection);
/// Contact manager for all the graph
sofa::component::collision::DefaultContactManager* contact_manager
= new sofa::component::collision::DefaultContactManager();
contact_manager->setName("Response");
groot->addObject(contact_manager);
/// Collision group manager for all the graph
sofa::component::collision::DefaultCollisionGroupManager* group_manager
= new sofa::component::collision::DefaultCollisionGroupManager;
group_manager->setName("Group");
groot->addObject(group_manager);
/*
Object inside the scene: a cube
*/
/// Creation of the node cube FEM
sofa::simulation::tree::GNode* cubeFEM =
new sofa::simulation::tree::GNode;
cubeFEM->setName("cubeFEM");
groot->addChild(cubeFEM);
/// Solver implicit for the cube
// nb iteration = 25
sofa::component::odesolver::CGImplicitSolver* solver =
new sofa::component::odesolver::CGImplicitSolver;
solver->setName("Solver");
cubeFEM->addObject(solver);
/// Mechanical properties of the cube
sofa::component::MechanicalObject<MyTypes>* DOF =
new sofa::component::MechanicalObject<MyTypes>;
DOF->setName("DOF");
DOF->load("data/smCube125.obj");
cubeFEM->addObject(DOF);
/// Mass uniform for the cube
sofa::component::mass::UniformMass<MyTypes,double>* mass =
new sofa::component::mass::UniformMass<MyTypes,double>;
mass->setMass(0.25);
mass->setName("Mass");
cubeFEM->addObject(mass);
/// Regular grid for the cube
sofa::component::topology::RegularGridTopology* topology =
new sofa::component::topology::RegularGridTopology();
topology->setName("topology");
topology->setNx(5);
topology->setNy(5);
topology->setNz(5);
topology->setPos(-3.5, 3.5, -3.5, 3.5, -3.5, 3.5);
cubeFEM->addObject(topology);
/// The cube force field
sofa::component::forcefield::TetrahedronFEMForceField<MyTypes>* FEM
= new sofa::component::forcefield::TetrahedronFEMForceField<MyTypes>;
FEM->setYoungModulus(25);
FEM->setPoissonRatio(0.3);
FEM->setUpdateStiffnessMatrix(false);
FEM->setComputeGlobalMatrix(false);
FEM->setMethod(1);
FEM->setName("FEM");
cubeFEM->addObject(FEM);
/*
The rendering part of the cube: Visu (child of the cubeFEM node)
*/
/// Creation of node for the rendering part of the cube: Visu
sofa::simulation::tree::GNode* Visu = new sofa::simulation::tree::GNode;
Visu->setName("Visu");
cubeFEM->addChild(Visu);
/// The visual model of Visu
sofa::component::visualmodel::OglModel* Visual
= new sofa::component::visualmodel::OglModel();
Visual->setName( "Visual" );
Visual->load(DataRepository.getFile("smCube125.obj"), "", "");
Visual->setColor("red");
Visual->drawTransparent();
Visu->addObject(Visual);
/// Mapping for the visual part of the cube
MyMapping* MappingVisu = new MyMapping(DOF, Visual);
MappingVisu->setName( "Mapping" );
Visu->addObject(MappingVisu);
/*
The mecanical part of the cube: Surf (child of the cubeFEM node)
*/
/// Creation of the node for the mecanical part of the cube: Surf
sofa::simulation::tree::GNode* Surf = new sofa::simulation::tree::GNode;
Surf->setName("Surf");
cubeFEM->addChild(Surf);
//// For this object, we used two collision models: line and triangle
// (according the raffinement of the detection)
/// Triangle Model
sofa::component::collision::TriangleModel *TriangleModel
= new sofa::component::collision::TriangleModel();
TriangleModel->setName("Triangle");
TriangleModel->computeBoundingTree();
TriangleModel->update();
Surf->addObject(TriangleModel);
/// Line Model
sofa::component::collision::LineModel *LineModel
= new sofa::component::collision::LineModel();
LineModel->setName("Line");
Surf->addObject(LineModel);
/*
Object inside the scene: the floor
*/
// Creation of the node for the floor
sofa::simulation::tree::GNode* Floor = new sofa::simulation::tree::GNode;
Floor->setName("Floor");
groot->addChild(Floor);
/// Mesh topology of the floor
sofa::component::topology::MeshTopology* MeshTopologyFloor
= new sofa::component::topology::MeshTopology();
MeshTopologyFloor->setName("MeshTopology");
MeshTopologyFloor->load("data/floor3.obj");
Floor->addObject(MeshTopologyFloor);
/// Mechanical properties of the floor
sofa::component::MechanicalObject<MyTypes>* DOFFloor
= new sofa::component::MechanicalObject<MyTypes>;
DOFFloor->applyTranslation(0.0, -10.0, 0.0);
DOFFloor->applyScale(0.75);
DOFFloor->setName("DOFFloor");
Floor->addObject(DOFFloor);
/// The visual model of the floor
sofa::component::visualmodel::OglModel* VisualFloor
= new sofa::component::visualmodel::OglModel();
VisualFloor->setName( "VisualFloor" );
VisualFloor->load(DataRepository.getFile("floor3.obj"), "", "");
VisualFloor->applyScale(0.75);
VisualFloor->applyTranslation(0.0, -10.0, 0.0);
Floor->addObject(VisualFloor);
/// Triangle Model for collision
sofa::component::collision::TriangleModel *TriangleModelFloor
= new sofa::component::collision::TriangleModel();
TriangleModelFloor->setName("Triangle");
TriangleModelFloor->computeBoundingTree();
TriangleModelFloor->update();
Floor->addObject(TriangleModelFloor);
/// Line Model for collision
sofa::component::collision::LineModel *LineModelFloor = new
sofa::component::collision::LineModel();
LineModelFloor->setName("Line");
Floor->addObject(LineModelFloor);
/*
Gestion of the scene
*/
/// Initialisation of the scene
sofa::simulation::tree::Simulation::init(groot);
groot->setDt(0.02);
groot->setAnimate(false);
groot->setShowNormals(false);
groot->setShowInteractionForceFields(false);
groot->setShowMechanicalMappings(false);
groot->setShowCollisionModels(false);
groot->setShowBoundingCollisionModels(false);
groot->setShowMappings(false);
groot->setShowWireFrame(false);
groot->setShowBehaviorModels(true);
groot->setShowForceFields(true);
groot->setShowVisualModels(true);
/// Run the main loop
sofa::gui::SofaGUI::MainLoop(groot);
return 0;
}