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Apply SOFA PR 4750 changes #148

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Apply SOFA PR 4750 changes #148

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0454f3e
apply data name change
bakpaul Dec 10, 2024
81e392d
Merge remote-tracking branch 'origin' into apply_data_name_change_res…
bakpaul Feb 28, 2025
0c88aeb
Use FixedweakConstraint instead when possible
bakpaul Mar 4, 2025
d093934
Restore gitignore
bakpaul Mar 4, 2025
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4 changes: 2 additions & 2 deletions examples/python3/NeedleInsertion-predefinedPath.py
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Original file line number Diff line number Diff line change
Expand Up @@ -118,8 +118,8 @@ def createScene(rootNode):
rigidBaseNode = cableNode.addChild('rigidBase')
RigidBaseMO = rigidBaseNode.addObject('MechanicalObject', template='Rigid3d', name="RigidBaseMO",
position="0 0 0 0 0 0 1", showObject='1', showObjectScale='5.')
rigidBaseNode.addObject('RestShapeSpringsForceField', name='spring', stiffness="50000",
angularStiffness="50000", external_points="0", mstate="@RigidBaseMO", points="0",
rigidBaseNode.addObject('FixedWeakConstraint', name='spring', stiffness="50000",
angularStiffness="50000", mstate="@RigidBaseMO", indices="0",
template="Rigid3d")

###############
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4 changes: 2 additions & 2 deletions examples/python3/PNLS_Example3.py
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Expand Up @@ -118,8 +118,8 @@ def createScene(rootNode):
showObjectScale=0.3, position=[length, 0, 0, 0, 0, 0, 1], showObject=True)

beamFrame.addObject('RestShapeSpringsForceField', name='spring',
stiffness=1e8, angularStiffness=1e8, external_points=0,
external_rest_shape=controlMo.getLinkPath(), points=nbFrames, template="Rigid3d")
stiffness=1e8, angularStiffness=1e8, externalIndices=0,
external_rest_shape=controlMo.getLinkPath(), indices=nbFrames, template="Rigid3d")

cosseratNode = nonLinearCosserat.legendreControlPointsNode

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7 changes: 4 additions & 3 deletions examples/python3/cosserat/CosseratBase.py
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Expand Up @@ -110,8 +110,10 @@ def _addSlidingPointsWithContainer(self):
return slidingPoint

def _addRigidBaseNode(self):

rigidBaseNode = create_rigid_node(self, "RigidBase",
self.translation, self.rotation)

return rigidBaseNode

def _add_cosserat_coordinate(self, initial_curvature: List[float], section_lengths: List[float]):
Expand Down Expand Up @@ -244,13 +246,12 @@ def createScene(rootNode):
# Create a
cosserat = solverNode.addChild(CosseratBase(parent=solverNode, beam_params=Params))
cosserat.rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
# mstate="@RigidBaseMO",
points=0,
indices=0,
template="Rigid3d"
)

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5 changes: 2 additions & 3 deletions examples/python3/cosserat/cosseratObject.py
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Expand Up @@ -250,13 +250,12 @@ def addRigidBaseNode(self):
if int(self.attachingToLink.value):
print("Adding the rest shape to the base")
rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
mstate="@RigidBaseMO",
points=0,
indices=0,
template="Rigid3d",
)
return rigidBaseNode
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4 changes: 2 additions & 2 deletions examples/python3/cosserat/createFemRegularGrid.py
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Expand Up @@ -33,7 +33,7 @@ def createFemCube(parentNode):
gelNode.addObject('TetrahedronFEMForceField', template='Vec3d', name='FEM', method='large',
poissonRatio='0.45', youngModulus='100')
gelNode.addObject('BoxROI', name='ROI1', box='40 -17 -10 100 -14 10', drawBoxes='true')
gelNode.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness='1e12')
gelNode.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness='1e12')

surfaceNode = gelNode.addChild("surfaceNode")
surfaceNode.addObject('TriangleSetTopologyContainer', name="surfContainer", src="@../../GelSurface/Container")
Expand Down Expand Up @@ -72,7 +72,7 @@ def createFemCubeWithParams(parentNode, geometry):
gelNode.addObject('TetrahedronFEMForceField', template='Vec3d', name='FEM', method='large',
poissonRatio=geometry.poissonRatio, youngModulus=geometry.youngModulus)
gelNode.addObject('BoxROI', name='ROI1', box=geometry.box, drawBoxes='true')
gelNode.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness='1e12')
gelNode.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness='1e12')

surfaceNode = gelNode.addChild("surfaceNode")
surfaceNode.addObject('TriangleSetTopologyContainer', name="surfContainer",
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6 changes: 3 additions & 3 deletions examples/python3/cosserat/nonLinearCosserat.py
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Expand Up @@ -125,9 +125,9 @@ def addRigidBaseNode(self):
# one can choose to set this to false and directly attach the beam base
# to a control object in order to be able to drive it.
if int(self.attachingToLink.value):
rigidBaseNode.addObject('RestShapeSpringsForceField', name='spring',
stiffness=1e14, angularStiffness=1.e14, external_points=0,
mstate="@RigidBaseMO", points=0, template="Rigid3d")
rigidBaseNode.addObject('FixedWeakConstraint', name='spring',
stiffness=1e14, angularStiffness=1.e14,
mstate="@RigidBaseMO", indices=0, template="Rigid3d")
return rigidBaseNode

def addLegendrePolynomialsNode(self):
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2 changes: 1 addition & 1 deletion examples/python3/tutorial/formation/chiba/Actuator.py
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Expand Up @@ -32,7 +32,7 @@ def createScene(rootNode):
finger.addObject('BoxROI', name='boxROISubTopo', box=[23, -10, -8, 26, 10, 8], strict=False, drawBoxes=True)
finger.addObject('BoxROI', name='boxROISubTopo2', box=[0, -10, -4, 28, 10, -2], strict=False, drawBoxes=True)
finger.addObject('BoxROI', name='boxROI', box=[-2, -10, -20, 2, 10, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('LinearSolverConstraintCorrection')
#Plastic Part
modelSubTopo = finger.addChild('modelSubTopo')
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2 changes: 1 addition & 1 deletion examples/python3/tutorial/formation/chiba/actuator_v1.py
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Expand Up @@ -31,7 +31,7 @@ def createScene(root_node):
finger.addObject('BoxROI', name='boxROISubTopo', box=[23, -10, -8, 26, 10, 8], strict=False, drawBoxes=True)
finger.addObject('BoxROI', name='boxROISubTopo2', box=[0, -10, -4, 28, 10, -2], strict=False, drawBoxes=True)
finger.addObject('BoxROI', name='boxROI', box=[-2, -10, -20, 2, 10, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12, angularStiffness=1e12)
finger.addObject('LinearSolverConstraintCorrection')
# Plastic Part
modelSubTopo = finger.addChild('modelSubTopo')
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4 changes: 2 additions & 2 deletions examples/python3/tutorial/scene_w9991.py
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Expand Up @@ -14,9 +14,9 @@ def _add_rigid_base(p_node):
rigid_base_node = p_node.addChild('rigid_base')
rigid_base_node.addObject('MechanicalObject', template="Rigid3d", name="cosserat_base_mo",
position="0 0 0 0 0 0. 1", showObject=1, showObjectScale="0.1")
rigid_base_node.addObject('RestShapeSpringsForceField', template="Rigid3d", name="spring",
rigid_base_node.addObject('FixedWeakConstraint', template="Rigid3d", name="spring",
stiffness=stiffness_param, angularStiffness=stiffness_param,
mstate="@cosserat_base_mo", external_points="0", points="0")
mstate="@cosserat_base_mo", externalIndices="0", indices="0")
return rigid_base_node


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5 changes: 3 additions & 2 deletions examples/python3/useful/header.py
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Expand Up @@ -156,8 +156,8 @@ def addSolverNode(parent_node, name='solverNode', template='CompressedRowSparseM

def attach_mesh_with_springs(mesh_node, _box='-18 -15 -8 2 -3 8'):
mesh_node.addObject('BoxROI', name='ROI1', box=_box, drawBoxes='true')
mesh_node.addObject('RestShapeSpringsForceField',
points='@ROI1.indices', stiffness='1e12')
mesh_node.addObject('FixedWeakConstraint',
indices='@ROI1.indices', stiffness='1e12')

def attach_3d_points_to_meca_with_barycentric_mapping(parent_node, name='node_name',
list_of_points=[" 0.0 0 0 15 0 0 30 0 0 45 0 0 60 0 0 66 0 0 81 0.0 0.0"]):
Expand Down Expand Up @@ -188,6 +188,7 @@ def add_finger_mesh_force_field_Object(parent_node, path):
poissonRatio='0.45', youngModulus='500')
attach_mesh_with_springs(parent_node)


# Mapped points inside the finger volume, these points attached to the FE model
# are constrained to slide on the cable.
points_node = attach_3d_points_to_meca_with_barycentric_mapping(parent_node)
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4 changes: 2 additions & 2 deletions examples/python3/wip/completDirectNeedleInsertion.py
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Expand Up @@ -108,8 +108,8 @@ def createScene(rootNode):
RigidBaseMO = rigidBaseNode.addObject('MechanicalObject', template='Rigid3d', name="RigidBaseMO",
position="0 0 0 0 0 0 1", translation="-40. 0. 0.", showObject='1',
showObjectScale='5.')
rigidBaseNode.addObject('RestShapeSpringsForceField', name='spring', stiffness="50000",
angularStiffness="50000", external_points="0", mstate="@RigidBaseMO", points="0",
rigidBaseNode.addObject('FixedWeakConstraint', name='spring', stiffness="50000",
angularStiffness="50000", mstate="@RigidBaseMO", indices="0",
template="Rigid3d")

#############################################
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2 changes: 1 addition & 1 deletion tutorial/text/cosserat_tutorial.md
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Expand Up @@ -86,7 +86,7 @@ Now, we'll dive into the essential part – configuring the Cosserat plugin with
def _add_rigid_base(p_node):
rigid_base_node = p_node.addChild('rigid_base')
rigid_base_node.addObject('MechanicalObject', template='Rigid3d', name="cosserat_base_mo", position="0 0 0 0 0 0. 1", showObject=1, showObjectScale='0.1')
rigid_base_node.addObject('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param, angularStiffness=stiffness_param, external_points="0", mstate="@cosserat_base_mo", points="0", template="Rigid3d")
rigid_base_node.addObject('FixedWeakConstraint', name='spring', stiffness=stiffness_param, angularStiffness=stiffness_param, mstate="@cosserat_base_mo", indices="0", template="Rigid3d")
return rigid_base_node
```

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5 changes: 2 additions & 3 deletions tutorial/tuto_scenes/geo_cable_driven_cosserat_beam.py
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Expand Up @@ -65,12 +65,11 @@ def createScene(root_node):
beam = solver_node.addChild(CosseratBase(parent=solver_node, beam_params=Params))
# Attach beam base using a spring force field
beam.rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
points=0,
indices=0,
template="Rigid3d"
)

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5 changes: 2 additions & 3 deletions tutorial/tuto_scenes/geo_cosserat_cable_driven_cosserat_beam.py
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Expand Up @@ -76,12 +76,11 @@ def createScene(root_node):
beam = solver_node.addChild(CosseratBase(parent=solver_node, beam_params=Params))
# Attach beam base using a spring force field
beam.rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
points=0,
indices=0,
template="Rigid3d"
)

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6 changes: 3 additions & 3 deletions tutorial/tuto_scenes/step1.py
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Expand Up @@ -30,9 +30,9 @@ def _add_rigid_base(p_node):
rigid_base_node.addObject('MechanicalObject', template='Rigid3d', name="cosserat_base_mo",
position="0 0 0 0 0 0. 1",
showObject=1, showObjectScale='0.1')
rigid_base_node.addObject('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, external_points="0", mstate="@cosserat_base_mo",
points="0", template="Rigid3d")
rigid_base_node.addObject('FixedWeakConstraint', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, mstate="@cosserat_base_mo",
indices="0", template="Rigid3d")
return rigid_base_node


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5 changes: 2 additions & 3 deletions tutorial/tuto_scenes/tuto_1.py
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Expand Up @@ -18,13 +18,12 @@ def _add_rigid_base(p_node, positions=None):
showObjectScale="0.1",
)
rigid_base_node.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=stiffness_param,
angularStiffness=stiffness_param,
external_points="0",
mstate="@cosserat_base_mo",
points="0",
indices="0",
template="Rigid3d",
)
return rigid_base_node
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6 changes: 3 additions & 3 deletions tutorial/tuto_scenes/tuto_1_6dofs.py
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Expand Up @@ -11,9 +11,9 @@ def _add_rigid_base(p_node):
rigid_base_node.addObject('MechanicalObject', template='Rigid3d', name="cosserat_base_mo",
position="0 0 0 0 0 0. 1",
showObject=1, showObjectScale='0.1')
rigid_base_node.addObject('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, external_points="0", mstate="@cosserat_base_mo",
points="0", template="Rigid3d")
rigid_base_node.addObject('FixedWeakConstraint', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, mstate="@cosserat_base_mo",
indices="0", template="Rigid3d")
return rigid_base_node


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1 change: 1 addition & 0 deletions tutorial/tuto_scenes/tuto_2.py
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Expand Up @@ -2,6 +2,7 @@

from tuto_1 import _add_rigid_base, _add_cosserat_state, _add_cosserat_frame


stiffness_param: float = 1.e10
beam_radius: float = 1.

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6 changes: 3 additions & 3 deletions tutorial/tuto_scenes/tuto_2_6dofs.py
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Expand Up @@ -14,9 +14,9 @@ def _add_rigid_base(p_node):
rigid_base_node.addObject('MechanicalObject', template='Rigid3d', name="cosserat_base_mo",
position="0 0 0 0 0 0. 1",
showObject=1, showObjectScale='0.1')
rigid_base_node.addObject('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, external_points="0", mstate="@cosserat_base_mo",
points="0", template="Rigid3d", activeDirections=[0,1,1,1,1,1,1])
rigid_base_node.addObject('FixedWeakConstraint', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, mstate="@cosserat_base_mo",
indices="0", template="Rigid3d", activeDirections=[0,1,1,1,1,1,1])
return rigid_base_node


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5 changes: 2 additions & 3 deletions tutorial/tuto_scenes/tuto_3.py
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Expand Up @@ -28,12 +28,11 @@ def createScene(root_node):
beam = solver_node.addChild(CosseratBase(parent=solver_node, params=Params))
# Attach beam base using a spring force field
beam.rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
points=0,
indices=0,
template="Rigid3d"
)

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10 changes: 5 additions & 5 deletions tutorial/tuto_scenes/tuto_4.py
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Expand Up @@ -110,12 +110,11 @@ def createScene(root_node):
# create cosserat Beam
cosserat_beam = solver_node.addChild(CosseratBase(parent=solver_node, params=Params))
cosserat_beam.rigidBaseNode.addObject(
"RestShapeSpringsForceField",
"FixedWeakConstraint",
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
points=0,
indices=0,
template="Rigid3d"
)
cosserat_frames = cosserat_beam.cosseratFrame
Expand All @@ -132,8 +131,9 @@ def createScene(root_node):
showObject=True)
if controller_type == 3:
cosserat_frames.addObject('RestShapeSpringsForceField', name='spring', stiffness=0., angularStiffness=1.e8,
external_points=0, external_rest_shape=controller_state.getLinkPath(),
points=geoParams.nb_frames, template="Rigid3d")
externalIndices=0, external_rest_shape=controller_state.getLinkPath(),
indices=geoParams.nbFrames, template="Rigid3d")


solver_node.addObject(ForceController(forceNode=const_force_node, frame_node=cosserat_frames,
force_type=controller_type, tip_controller=controller_state))
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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_5.py
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Expand Up @@ -168,8 +168,8 @@ def createScene(root_node):
# showObject=True)
#
# cosserat_frames.addObject('RestShapeSpringsForceField', name='spring', stiffness=1e8, angularStiffness=1e8,
# external_points=0, external_rest_shape=controller_state.getLinkPath(),
# points=geoParams.nbFrames, template="Rigid3d")
# externalIndices=0, external_rest_shape=controller_state.getLinkPath(),
# indices=geoParams.nbFrames, template="Rigid3d")
#
# solver_node.addObject(ForceController(forceNode=const_force_node, frame_node=cosserat_frames, force_type=3,
# tip_controller=controller_state))
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6 changes: 3 additions & 3 deletions tutorial/tuto_scenes/tuto_compare_2.py
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Expand Up @@ -22,9 +22,9 @@ def _add_rigid_base(p_node, _name='rigid_base'):
rigid_base_node.addObject('MechanicalObject', template='Rigid3d', name="cosserat_base_mo",
position="0 0 0 0 0 0. 1",
showObject=0, showObjectScale='0.')
rigid_base_node.addObject('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, external_points="0", mstate="@cosserat_base_mo",
points="0", template="Rigid3d", activeDirections=[1,1,1,1,1,1,1])
rigid_base_node.addObject('FixedWeakConstraint', name='spring', stiffness=stiffness_param,
angularStiffness=stiffness_param, mstate="@cosserat_base_mo",
indices="0", template="Rigid3d", activeDirections=[1,1,1,1,1,1,1])
return rigid_base_node


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