[timp]

Hi @hugo,

Thanks for having a look at my scene! Your explanation for why the simulation crashes makes sense, I changed the scene accordingly and now it works.
Thank you!

[timp]

Hi @hugo

The files are here

Thanks for your help!

[timp]

…oh, and here are the mesh files in case you want to run the scene.

[timp]

Hi @hugo

Thanks for your reply!
Here’s the full scene:

import Sofa
import os

def createScene(rootNode):

        ##########################################
        # Scene setup                            #
        ##########################################

        rootNode.createObject('RequiredPlugin', name='SofaPython')
        rootNode.createObject('RequiredPlugin', name='SofaSparseSolver')

        rootNode.createObject('VisualStyle', displayFlags='showVisualModels showBehaviorModels hideCollisionModels hideBoundingCollisionModels')
        rootNode.createObject('BackgroundSetting', color='1 1 1')
        rootNode.createObject('OglSceneFrame', style='Arrows', alignment='TopRight')

        rootNode.findData('gravity').value='0 0 0' 
        
        rootNode.createObject('FreeMotionAnimationLoop')
        rootNode.createObject('GenericConstraintSolver', maxIterations='1000', tolerance = '0.001')

        rootNode.createObject('DefaultPipeline')
        rootNode.createObject('BruteForceDetection', name='N2')
        rootNode.createObject('DefaultContactManager', response='FrictionContact', responseParams='mu=0.6')
        rootNode.createObject('LocalMinDistance', name='Proximity', alarmDistance='2.0', contactDistance='0.5')

        ##########################################
        # Cube                                   #
        ##########################################

        cube = rootNode.createChild('cube')
        cube.createObject('EulerImplicitSolver', name='odesolver_cube')
        cube.createObject('SparseLDLSolver', name='LDLsolver')

        cube.createObject('MeshVTKLoader', name='loader', filename='mesh/cube.vtk', rotation='180 0 0', translation='0 30 0')
        cube.createObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
        cube.createObject('TetrahedronSetTopologyModifier')
        cube.createObject('TetrahedronSetTopologyAlgorithms', template='Vec3d')
        cube.createObject('TetrahedronSetGeometryAlgorithms', template='Vec3d')

        cube.createObject('MechanicalObject', name='MO_cube', template='Vec3d')
        cube.createObject('TetrahedronFEMForceField', template='Vec3d', name='FEM_cube', method='large', poissonRatio='0.3',  youngModulus='200', drawAsEdges='false')
        cube.createObject('UniformMass', totalMass='0.0008')
        cube.createObject('LinearSolverConstraintCorrection', solverName='LDLsolver')
        
        cube.createObject('BoxROI', name='cubeROI_fix', box='20 -2 -20 -20 2 20', drawBoxes='true', position='@MO_cube.rest_position', tetrahedra='@container.tetrahedra')
        cube.createObject('FixedConstraint', indices='@cubeROI_fix.indices')

        #cube/cubeVisu
        cubeVisu = cube.createChild('visualModel')
        cubeVisu.createObject('MeshSTLLoader', filename='mesh/cube.stl', name='loader', rotation='180 0 0', translation='0 30 0')
        cubeVisu.createObject('OglModel', name='visual', src='@loader', color='0.5 0.8 0.2 0.5')
        cubeVisu.createObject('BarycentricMapping')  

        #cube/collision
        cubeCollision = cube.createChild('collisionModel')
        cubeCollision.createObject('MeshSTLLoader', name='loader', filename='mesh/cube.stl', triangulate='1', rotation='180 0 0', translation='0 30 0')
        cubeCollision.createObject('MeshTopology', src='@loader')
        cubeCollision.createObject('MechanicalObject', src='@loader')
        cubeCollision.createObject('TTriangleModel', selfCollision='0') 
        cubeCollision.createObject('TLineModel', selfCollision='0')
        cubeCollision.createObject('TPointModel', selfCollision='0')
        cubeCollision.createObject('BarycentricMapping')  

        #cube/cubeInterfacePoints
        cubeInterPts = cube.createChild('cubeInterfacePoints')
        cubeInterPts.createObject('MeshSTLLoader', filename='mesh/cube_surface.stl', name='loader', rotation='180 0 0', translation='0 30 0')
        cubeInterPts.createObject('MeshTopology', position='@loader.position', triangles='@loader.triangles', name='mesh_cubeInterface')
        cubeInterPts.createObject('MechanicalObject', name='pointCloud_cube', template='Vec3d', showObject='1', showObjectScale='15')
        cubeInterPts.createObject('TTriangleModel')
        cubeInterPts.createObject('TLineModel')
        cubeInterPts.createObject('TPointModel')
        cubeInterPts.createObject('SubsetMapping')

        ##########################################
        # Cuboid                                 #
        ##########################################                        
        
        cuboid = rootNode.createChild('cuboid')
        cuboid.createObject('EulerImplicitSolver', name='odesolver_cuboid')
        cuboid.createObject('SparseLDLSolver', name='LDLsolver')

        cuboid.createObject('MeshVTKLoader', name='loader', filename='mesh/cuboid.vtk', rotation='0 0 90', translation='15 45 0')
        cuboid.createObject('TetrahedronSetTopologyContainer', src='@loader', name='container')
        cuboid.createObject('TetrahedronSetTopologyModifier')
        cuboid.createObject('TetrahedronSetTopologyAlgorithms', template='Vec3d')
        cuboid.createObject('TetrahedronSetGeometryAlgorithms', template='Vec3d')

        cuboid.createObject('MechanicalObject', name='MO_cuboid', template='Vec3d')
        cuboid.createObject('TetrahedronFEMForceField', template='Vec3d', name='FEM_cuboid', method='large', poissonRatio='0.3',  youngModulus='500', drawAsEdges='false')
        cuboid.createObject('UniformMass', totalMass='0.0008')
        #cuboid.createObject('UncoupledConstraintCorrection')
        cuboid.createObject('LinearSolverConstraintCorrection', solverName='LDLsolver')

        #cuboid/cuboidVisu
        cuboidVisu = cuboid.createChild('visualModel')
        cuboidVisu.createObject('MeshSTLLoader', filename='mesh/cuboid.stl', name='loader', rotation='0 0 90', translation='15 45 0')
        cuboidVisu.createObject('OglModel', name='visual', src='@loader', color='0.1 0.6 0.5 0.5')
        cuboidVisu.createObject('BarycentricMapping')  

        #cuboid/collision
        cuboidCollision = cuboid.createChild('collisionModel')
        cuboidCollision.createObject('MeshSTLLoader', name='loader', filename='mesh/cuboid.stl', triangulate='1', rotation='0 0 -90', translation='-45 45 0')
        cuboidCollision.createObject('MeshTopology', src='@loader')
        cuboidCollision.createObject('MechanicalObject', src='@loader')
        cuboidCollision.createObject('TTriangleModel', selfCollision='0') 
        cuboidCollision.createObject('TLineModel', selfCollision='0')
        cuboidCollision.createObject('TPointModel', selfCollision='0')
        cuboidCollision.createObject('BarycentricMapping')  

        #cuboid/cuboidConnection
        cuboidConn = cuboid.createChild('cuboidConnection')
        cuboidConn.createObject('MeshSTLLoader', filename='mesh/cube_surface.stl', name='loader', rotation='180 0 0', translation='0 30 0')
        cuboidConn.createObject('MeshTopology', position='@loader.position', triangles='@loader.triangles')
        cuboidConn.createObject('MechanicalObject', name='pointCloud_cuboid', template='Vec3d', showObject='1', showObjectScale='5')
        cuboidConn.createObject('TTriangleModel')
        cuboidConn.createObject('TLineModel')
        cuboidConn.createObject('TPointModel')
        cuboidConn.createObject('BarycentricMapping')

        ##########################################
        # Bilateral Interaction Constraint       #
        ##########################################
        
        id_pts=""
        for i in range(len(cubeInterPts.getObject('mesh_cubeInterface').findData('position').value)):
            id_pts= id_pts+str(i)+" "
        rootNode.createObject(
            'BilateralInteractionConstraint', 
            name='BIC', 
            template='Vec3d', 
            object1='@cube/cubeInterfacePoints/pointCloud_cube', 
            object2='@cuboid/cuboidConnection/pointCloud_cuboid', 
            first_point=id_pts, 
            second_point=id_pts,
        )
        
        
        return rootNode

Thank you!

[timp]

Hi @jnbrunet,

Okay, makes sense. For now, I don’t really need to start the GUI from Python, just thought it would be nice to have the option.
Thanks again for the explanation and your help!

[timp]

Hi @jnbrunet,

The output is

SOFAGUI_QGLVIEWER:BOOL=ON
SOFAGUI_QTVIEWER:BOOL=ON

I am not so sure what you mean by GUI support. But, I did not change any of the preconfigured settings related to the GUI when compiling SOFA. Does that help?

[timp]

Hey @jnbrunet,

Great, we are getting closer. 😉

Now the only thing that is still complaining is the GUIManager:

>>> Sofa.Gui.GUIManager.Init("example", "qglviewer")
[ERROR]   [GUIManager] No GUI registered.
1

If I type Sofa.Gui.GUIManager.ListSupportedGUI(",") I get an empty string.

Any idea how to fix this? Thanks for your patience.

[timp]

Hi @jnbrunet,
I added the Sofa build directory to PATH. Trying option 1 gives the following output (same with option 2):

>>> import SofaRuntime
>>> from Sofa.Core import Simulation
[ERROR] [PythonScript] ImportError: cannot import name ‘Simulation’ from ‘Sofa.Core’ (/home/tip/.local/lib/python3.7/site-packages/Sofa/Core.cpython-37m-x86_64-linux-gnu.so)
File “<stdin>”, line 1, in <module>

Thanks for your help!

[timp]

Hi @jnbrunet,
Thanks for your reply! I cannot test it right now but I will let you know if it worked soon.

[timp]

Hi @hugo,
yes, it was helpful. Thank you!

[timp]

Hi @Bruno,
thanks for your reply and the detailed explanation. I will have a look at pyautogui then or try to find a workaround.

[timp]

Hi all,
I have a follow-up question. In my Python scene I would like to be able stop and start the animation upon pressing a key. While I can stop the animation using:
rootNode.getRootContext().animate = False
starting it again by writing:
rootNode.getRootContext().animate = True
does not work.
Is it not possible to restart the animation in this way?
I appreciate your help!

[Author]

Posts