simulate liquid environment

[John]

Hi
I’m trying to simulate a soft robot’s movement in liquid enviroment,is there any plugins can simulate liquid enviroment?
Thanks
John

[Hugo]

Hi @johnza

What effect of the fluid are you exactly looking at? Floating? Pressure? Flow?
As you know, SOFA is mainly focused on solid mechanics and only SPH fluid or Eulerian approach are available.

We had a code modeling buoyancy: BuoyantForceField but it was deprecated and removed since v18.12.

Best,

Hugo

[John]

Hi Hugo

I am sorry for the late reply.I’m tring to simulate a underwater soft arm’s movement in lentic and turbulent flow enviroment.I see the SofaSphFluid and SofaEulerianFluid Plugin, I will install them first.

Thanks.

John

[Hugo]

Ok @johnza perfect.
Please keep us updated about your approach and results.

Best

Hugo

[PhoNguyen]

Hi,

I compile plugin sofapython, SofaSphFluid and SofaEulerianFluid in sofa v20.12, the errors are as follows:

[ 28%] Built target Sofa.GL_Sofa_relocatable_install
[ 28%] Built target Sofa.GL_test
[ 28%] Building CXX object SofaKernel/SofaSimulation/CMakeFiles/SofaSimulation.dir/src/SofaSimulation/initSofaSimulation.cpp.o
In file included from /home/pho/Desktop/sofa/src/SofaKernel/SofaSimulation/src/SofaSimulation/initSofaSimulation.cpp:24:
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationCommon/src/SofaSimulationCommon/init.h:30:1: error: ‘SOFA_SOFASIMULATIONCOMMON_API’ does not name a type; did you mean ‘SOFA_SIMULATION_COMMON_API’?
   30 | SOFA_SOFASIMULATIONCOMMON_API void init();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SIMULATION_COMMON_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationCommon/src/SofaSimulationCommon/init.h:34:1: error: ‘SOFA_SOFASIMULATIONCOMMON_API’ does not name a type; did you mean ‘SOFA_SIMULATION_COMMON_API’?
   34 | SOFA_SOFASIMULATIONCOMMON_API bool isInitialized();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SIMULATION_COMMON_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationCommon/src/SofaSimulationCommon/init.h:38:1: error: ‘SOFA_SOFASIMULATIONCOMMON_API’ does not name a type; did you mean ‘SOFA_SIMULATION_COMMON_API’?
   38 | SOFA_SOFASIMULATIONCOMMON_API void cleanup();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SIMULATION_COMMON_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationCommon/src/SofaSimulationCommon/init.h:42:1: error: ‘SOFA_SOFASIMULATIONCOMMON_API’ does not name a type; did you mean ‘SOFA_SIMULATION_COMMON_API’?
   42 | SOFA_SOFASIMULATIONCOMMON_API bool isCleanedUp();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SIMULATION_COMMON_API
In file included from /home/pho/Desktop/sofa/src/SofaKernel/SofaSimulation/src/SofaSimulation/initSofaSimulation.cpp:25:
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationGraph/src/SofaSimulationGraph/init.h:30:1: error: ‘SOFA_SOFASIMULATIONGRAPH_API’ does not name a type; did you mean ‘SOFA_SOFASIMULATION_API’?
   30 | SOFA_SOFASIMULATIONGRAPH_API void init();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SOFASIMULATION_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationGraph/src/SofaSimulationGraph/init.h:34:1: error: ‘SOFA_SOFASIMULATIONGRAPH_API’ does not name a type; did you mean ‘SOFA_SOFASIMULATION_API’?
   34 | SOFA_SOFASIMULATIONGRAPH_API bool isInitialized();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SOFASIMULATION_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationGraph/src/SofaSimulationGraph/init.h:39:1: error: ‘SOFA_SOFASIMULATIONGRAPH_API’ does not name a type; did you mean ‘SOFA_SOFASIMULATION_API’?
   39 | SOFA_SOFASIMULATIONGRAPH_API void cleanup();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SOFASIMULATION_API
/home/pho/Desktop/sofa/src/SofaKernel/modules/SofaSimulationGraph/src/SofaSimulationGraph/init.h:43:1: error: ‘SOFA_SOFASIMULATIONGRAPH_API’ does not name a type; did you mean ‘SOFA_SOFASIMULATION_API’?
   43 | SOFA_SOFASIMULATIONGRAPH_API bool isCleanedUp();
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~
      | SOFA_SOFASIMULATION_API
/home/pho/Desktop/sofa/src/SofaKernel/SofaSimulation/src/SofaSimulation/initSofaSimulation.cpp: In function ‘void sofa::initSofaSimulation()’:
/home/pho/Desktop/sofa/src/SofaKernel/SofaSimulation/src/SofaSimulation/initSofaSimulation.cpp:38:31: error: ‘init’ is not a member of ‘sofa::simulation::common’
   38 |     sofa::simulation::common::init();
      |                               ^~~~
/home/pho/Desktop/sofa/src/SofaKernel/SofaSimulation/src/SofaSimulation/initSofaSimulation.cpp:39:30: error: ‘init’ is not a member of ‘sofa::simulation::graph’
   39 |     sofa::simulation::graph::init();
      |                              ^~~~
make[2]: *** [SofaKernel/SofaSimulation/CMakeFiles/SofaSimulation.dir/build.make:82: SofaKernel/SofaSimulation/CMakeFiles/SofaSimulation.dir/src/SofaSimulation/initSofaSimulation.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:3724: SofaKernel/SofaSimulation/CMakeFiles/SofaSimulation.dir/all] Error 2
make: *** [Makefile:182: all] Error 2

Anyone can help me to solve this problem?

Best,
Pho

[Guillaume]

Hi,

It seems your build directory contains an old version of SofaSimulationCommon.
Try removing <your-SOFA-build-directory>/include/SofaSimulationCommon and compile again.

Cheers,
Guillaume.

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