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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Mon May 11 15:25:52 2020
@author: zahra
"""
#A=glob.glob(CoarseMeshesPath+str(i)+'_*')
import Sofa
import numpy as np
import pickle
import glob
class controller(Sofa.PythonScriptController):
def initGraph(self, node):
self.rootNode = node
self.Cylinder= node.getChild('Cylinder')
self.surface_coarse_NormalIssue=self.Cylinder.getChild('surface_coarse_NormalIssue')
self.totalTime = 0
self.count=0
self.CoarseMeshesPath='/home/zahra/LiverForThirdPaperEnglish/Exported_sampled/Coarse_surface/LiverSurfaceCoarse_'
self.path='/home/zahra/LiverForThirdPaperEnglish/Exported_sampled'
self.restTime=0.1
# jj=[67, 69, 70, 71, 75, 76, 82, 85, 87, 89, 90, 94, 96, 98, 99, 100, 101, 104, 105, 106, 107, 109, 110, 111, 114, 115, 116, 117, 119, 120, 121, 123, 126, 127, 128, 130, 132, 133, 135, 138]
jj=[67,69,70]
fileNames=[]
for i in jj:
for fileName in glob.glob(self.CoarseMeshesPath+str(i)+'_*'):
fileNames.append(fileName)
self.B=len('/home/zahra/LiverForThirdPaperEnglish/Exported_sampled/Coarse_surface/LiverSurfaceCoarse_')
self.ind=0
self.fileName=fileNames[self.ind]
print(self.fileName)
def onBeginAnimationStep(self,dt):
filename=self.fileName
self.Cylinder.getObject('loader').findData('filename').value='filename'
# self.Cylinder.getObject('loader').findData('filename').value='/home/zahra/LiverForThirdPaperEnglish/Exported_sampled/Coarse_surface/LiverSurfaceCoarse_67_[-19.461157619953156, -51.18169128894806, 128.8475751876831].gmsh'
# self.rootNode.animate='True'
self.totalTime+=dt
if self.totalTime<=self.restTime+dt:
# filename=self.fileName
# self.Cylinder.getObject('loader').findData('filename').value=str(self.fileName)
coarseNormals=self.surface_coarse_NormalIssue.getObject('oglModelForNormals').findData('normal').value
bb=self.B
with open(self.path+'/normals_of_ simulated_mesh_coarse/coarseNormals_'+self.fileName[bb:], 'wb') as f:
pickle.dump(coarseNormals, f)
######################################################
if (self.totalTime>self.restTime):
print(self.totalTime)
self.Cylinder.getObject('loader').findData('filename').value=''
self.totalTime=0
print("time reset")
self.ind=self.ind+1
print("self.ind=", self.ind)
if self.ind>=2:
self.rootNode.animate='False'
print('End')
return 0
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$EndElements
"""
fromTutorial_CylinderTrianglePython
is based on the scene
/home/zahra/CylinderFor2ndPaperTest/fromTutorial_CylinderTriangle.scn
but it uses the SofaPython plugin.
Further informations on the usage of the plugin can be found in
sofa/applications/plugins/SofaPython/doc/SofaPython.pdf
To lance the scene, type
runSofa /home/zahra/CylinderFor2ndPaperTest/fromTutorial_CylinderTrianglePython.scn
The current file has been written by the python script
/home/zahra/sofa/src/applications/plugins/SofaPython/scn2python.py
Author of scn2python.py: Christoph PAULUS, christoph.paulus@inria.fr
"""
import Sofa
def createScene(rootNode):
rootNode.findData('dt').value = '0.01'
rootNode.findData('gravity').value = '0 0 0' ### IMPORTANT: GRAVITY=0
rootNode.createObject('RequiredPlugin', name='SofaPython')
mySimulation = fromTutorial_CylinderTriangle(rootNode,[])
return 0;
class fromTutorial_CylinderTriangle (Sofa.PythonScriptController):
def initGraph(self,rootNode):
# rootNode
rootNode.createObject('VisualStyle', name='visualStyle1', displayFlags='showVisual showBehaviorModels')
rootNode.createObject('DefaultPipeline', depth='6', name='DefaultCollisionPipeline')
rootNode.createObject('BruteForceDetection', name='Detection')
rootNode.createObject('MinProximityIntersection', contactDistance='0.5', alarmDistance='0.8', name='Proximity')
rootNode.createObject('DefaultContactManager', name='Response', response='default')
rootNode.createObject('DefaultCollisionGroupManager', name='Group')
rootNode.createObject('PythonScriptController', classname="controller", filename='controllerForExtractingNormals.py')
Cylinder = rootNode.createChild('Cylinder')
Cylinder.createObject('MeshGmshLoader', trianglesGroups=' -1 0 1450', filename='', createSubelements='1', edgesGroups=' -1 0 96', name='loader')
Cylinder.createObject('MechanicalObject', force='0 0 0', name='MechCylinderf', restScale='1', template='Vec3d', position='@loader.position', velocity='0 0 0', translation='0 0 0', externalForce='0 0 0', rotation='0 0 0')
Cylinder.createObject('FixedConstraint', indices='0 11 17 16 15 14 4 3 45 95 42 40 38 39 53 62 61 60 63 59 125 24 20 19 9 57 111 116 117 107 121 120 122 123', showObject='0', drawSize='0', name='fixedConstraint0', template='Vec3d')
Cylinder.createObject('UniformMass', totalmass='50', name='Mass', template='Vec3d', filename='unused')
Cylinder.createObject('EulerImplicitSolver', name='cg_odesolver', printLog='0')
Cylinder.createObject('CGLinearSolver', threshold='1e-09', tolerance='1e-09', name='linear solver', iterations='40', template='GraphScattered')
Cylinder.createObject('TriangleSetTopologyContainer', position='@loader.position', edges='@loader.edges', name='Topology Container', triangles='@loader.triangles')
Cylinder.createObject('TriangleSetTopologyModifier', name='Topology Modifier')
Cylinder.createObject('TriangleSetTopologyAlgorithms', name='Topology Algorithms', template='Vec3d')
Cylinder.createObject('TriangleSetGeometryAlgorithms', name='Geometry Algorithms', template='Vec3d', showPointIndices='0')
Cylinder.createObject('TriangularBendingSprings', damping='1', name='FEM-Bend', stiffness='300', template='Vec3d')
Cylinder.createObject('TriangularFEMForceField', method='large', template='Vec3d', name='FEM', poissonRatio='0.45', youngModulus='2000')
Cylinder.createObject('TTriangleModel', name='models', template='Vec3d')
Cylinder.createObject('OglModel', sfactor='GL_SRC_ALPHA', blendEquation='GL_FUNC_ADD', name='Visual', template='ExtVec3f', dfactor='GL_ONE_MINUS_SRC_ALPHA', material='Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 0 1 0 1 Emissive 0 0 1 0 1 Shininess 0 45 ', primitiveType='DEFAULT')
surface_coarse_NormalIssue = Cylinder.createChild('surface_coarse_NormalIssue')
surface_coarse_NormalIssue.createObject('OglModel', sfactor='GL_SRC_ALPHA', blendEquation='GL_FUNC_ADD', name='oglModelForNormals', template='ExtVec3f', dfactor='GL_ONE_MINUS_SRC_ALPHA', material='Default Diffuse 1 0.2 0.7 0.2 1 Ambient 1 0.2 0.2 0.2 1 Specular 0 1 1 1 1 Emissive 0 0 0 0 0 Shininess 0 45 ', primitiveType='DEFAULT',)
Cylinder.createObject('IdentityMapping', input='@.', name='Mapping', template='Vec3d,ExtVec3f', output='@Visual')
Cylinder.createObject('PlaneForceField', name='planeFF0', template='Vec3d', normal='0 1 0', draw='1', drawSize='8')
Cylinder.createObject('ConstantForceField', forces='', indices='', showColor='0.2 0.894118 0.294118 1', template='Vec3d', name='constantFF0')
return 0;
#j=[459 460 470 480 490 449 398 347 296 245 194 143 92]
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