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<?xml version="1.0" ?>
<!-- Testing ball collision problem from hugo -->
<Node name="root" dt="0.05" gravity="0 -9.810 0">
<VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields showVisualModels hideInteractionForceFields" />
<RequiredPlugin name='SofaMiscCollision'/>
<RequiredPlugin name="SofaPython" pluginName="SofaPython" />
<FreeMotionAnimationLoop solveVelocityConstraintFirst="0" />
<LCPConstraintSolver maxIt="1000" tolerance="1e-6" initial_guess="false" build_lcp="true" multi_grid="false" printLog="0" mu="0.000000000001"/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceDetection name="N2" />
<!-- <LocalMinDistance name="Proximity" alarmDistance="03" contactDistance="01" useLMDFilters="0" /> -->
<MinProximityIntersection name="Proximitty" alarmDistance="3.0" contactDistance="1.0" />
<CollisionResponse name="Response" response="FrictionContact" />
<Node name="Input">
<PythonScriptController filename="keyboardControl.py" classname="KeyboardControl"/>
<!-- <PythonScriptController filename="sofaTest.py" classname="clothMesh"/> -->
<MechanicalObject template="Rigid" name="DOFs" scale="3"/>
<Node name="VisuAvatar" activated="true" >
<OglModel name="Visual" fileMesh="mesh/sphere.obj" color="blue" scale="3" />
<RigidMapping input="@.." output="@Visual"/>
</Node>
<Node name="RefModel">
<MeshObjLoader filename="mesh/sphere.obj" name="loader"/>
<Mesh src="@loader" />
<MechanicalObject src="@loader" name="instrumentCollisionState"/>
<RigidMapping />
</Node>
</Node>
<Node name="ball">
<EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
<CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-100" />
<MechanicalObject name="ballState" template="Rigid3d"/>
<UniformMass name="mass" totalmass="0.1" />
<LCPForceFeedback activate="true" forceCoef="0.001"/>
<UncoupledConstraintCorrection compliance="100"/>
<Node name="ball_surf" >
<MeshObjLoader name="meshLoader" filename="mesh/sphere.obj" />
<Mesh src="@meshLoader" />
<MechanicalObject name="ballCollisionState" template="Vec3d" src="@meshLoader" scale="3" translation="0 0 0"/>
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection compliance="1"/>
<RigidMapping input="@.." output="@ballCollisionState"/>
<Node name="VisualModel" >
<OglModel name="ballVisualModel" src="@../meshLoader" color="1.0 0.2 0.2 1.0" scale="3" translation="0 0 0"/>
<IdentityMapping input="@.." output="@ballVisualModel"/>
</Node>
</Node>
<Sphere />
<VectorSpringForceField object1="@Input/RefModel" object2="@ball/ball_surf/ballCollisionState" stiffness="100000" viscosity="0" />
</Node>
<Node name="Floor">
<MeshObjLoader name="loader" filename="mesh/floorFlat.obj" triangulate="true" scale="10" translation="50 -10 50" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" name="DOFs" template="Vec3d" />
<Triangle simulated="0" moving="0" contactFriction="100"/>
<Line simulated="0" moving="0" contactFriction="100"/>
<Point simulated="0" moving="0" contactFriction="100"/>
<OglModel name="FloorV" />
</Node>
</Node>
import Sofa
import numpy as np
''' To test ball collision prob from hugo'''
class KeyboardControl(Sofa.PythonScriptController):
# called once graph is created, to init some stuff...
def initGraph(self,node):
print 'initGraph called (python side)'
self.MechanicalState = node.getObject('DOFs')
gravity = node.findData('gravity').value
print gravity
self.rootNode = node.getRoot()
self.ballMesh = self.rootNode.getChild('ball')
self.node = node
return 0
def onKeyPressed(self,k):
free_position=self.MechanicalState.position
# translation speed
speed = 1
if ord(k)==19:
self.rootNode.reset()
# DOWN key : rear
if ord(k)==21:
self.rootNode.cleanup()
# LEFT key : left
if ord(k)==23:
free_position[0][1]-=speed
self.MechanicalState.findData('position').value=free_position
self.MechanicalState.free_position=free_position
# RIGHT key : right
if ord(k)==22:
free_position[0][1]+=speed
self.MechanicalState.findData('position').value=free_position
self.MechanicalState.free_position=free_position
# PAGEUP key : up
if ord(k)==18:
free_position[0][0]-=speed
self.MechanicalState.findData('position').value=free_position
self.MechanicalState.free_position=free_position
# PAGEDN key : down
if ord(k)==20:
free_position[0][0]+=speed
self.MechanicalState.findData('position').value=free_position
self.MechanicalState.free_position=free_position
return 0
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