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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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2 changes: 1 addition & 1 deletion examples/python3/NeedleInsertion-predefinedPath.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ def createScene(rootNode):
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",
angularStiffness="50000", externalIndices="0", 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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4 changes: 2 additions & 2 deletions examples/python3/cosserat/CosseratBase.py
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Expand Up @@ -162,9 +162,9 @@ def _addRigidBaseNode(self):
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
externalIndices=0,
mstate="@RigidBaseMO",
points=0,
indices=0,
template="Rigid3d",
)
return rigidBaseNode
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4 changes: 2 additions & 2 deletions examples/python3/cosserat/cosseratObject.py
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Expand Up @@ -254,9 +254,9 @@ def addRigidBaseNode(self):
name="spring",
stiffness=1e8,
angularStiffness=1.0e8,
external_points=0,
externalIndices=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('RestShapeSpringsForceField', 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('RestShapeSpringsForceField', indices='@ROI1.indices', stiffness='1e12')

surfaceNode = gelNode.addChild("surfaceNode")
surfaceNode.addObject('TriangleSetTopologyContainer', name="surfContainer",
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4 changes: 2 additions & 2 deletions examples/python3/cosserat/nonLinearCosserat.py
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Expand Up @@ -126,8 +126,8 @@ def addRigidBaseNode(self):
# 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")
stiffness=1e14, angularStiffness=1.e14, externalIndices=0,
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('RestShapeSpringsForceField', 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('RestShapeSpringsForceField', 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/scene_w9991.py
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Expand Up @@ -16,7 +16,7 @@ def _add_rigid_base(p_node):
position="0 0 0 0 0 0. 1", showObject=1, showObjectScale="0.1")
rigid_base_node.addObject('RestShapeSpringsForceField', 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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2 changes: 1 addition & 1 deletion examples/python3/useful/header.py
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Expand Up @@ -169,7 +169,7 @@ def addFEMObject(parentNode, path):

fingerSolver.addObject('BoxROI', name='ROI1', box='-18 -15 -8 2 -3 8', drawBoxes='true')
fingerSolver.addObject('RestShapeSpringsForceField',
points='@ROI1.indices', stiffness='1e12')
indices='@ROI1.indices', stiffness='1e12')
##########################################
# Cable points #
##########################################
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2 changes: 1 addition & 1 deletion examples/python3/wip/completDirectNeedleInsertion.py
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Expand Up @@ -109,7 +109,7 @@ def createScene(rootNode):
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",
angularStiffness="50000", externalIndices="0", 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('RestShapeSpringsForceField', name='spring', stiffness=stiffness_param, angularStiffness=stiffness_param, externalIndices="0", mstate="@cosserat_base_mo", indices="0", template="Rigid3d")
return rigid_base_node
```

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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/step1.py
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Expand Up @@ -31,8 +31,8 @@ def _add_rigid_base(p_node):
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")
angularStiffness=stiffness_param, externalIndices="0", mstate="@cosserat_base_mo",
indices="0", template="Rigid3d")
return rigid_base_node


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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_1.py
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Expand Up @@ -21,9 +21,9 @@ def _add_rigid_base(p_node):
name="spring",
stiffness=stiffness_param,
angularStiffness=stiffness_param,
external_points="0",
externalIndices="0",
mstate="@cosserat_base_mo",
points="0",
indices="0",
template="Rigid3d",
)
return rigid_base_node
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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_1_6dofs.py
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Expand Up @@ -12,8 +12,8 @@ def _add_rigid_base(p_node):
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")
angularStiffness=stiffness_param, externalIndices="0", mstate="@cosserat_base_mo",
indices="0", template="Rigid3d")
return rigid_base_node


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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_2.py
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Expand Up @@ -19,9 +19,9 @@ def _add_rigid_base(p_node):
name="spring",
stiffness=stiffness_param,
angularStiffness=stiffness_param,
external_points="0",
externalIndices="0",
mstate="@cosserat_base_mo",
points="0",
indices="0",
template="Rigid3d",
)
return rigid_base_node
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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_2_6dofs.py
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Expand Up @@ -15,8 +15,8 @@ def _add_rigid_base(p_node):
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])
angularStiffness=stiffness_param, externalIndices="0", mstate="@cosserat_base_mo",
indices="0", template="Rigid3d", activeDirections=[0,1,1,1,1,1,1])
return rigid_base_node


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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_4.py
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Expand Up @@ -118,8 +118,8 @@ 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.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=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 @@ -158,8 +158,8 @@ 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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4 changes: 2 additions & 2 deletions tutorial/tuto_scenes/tuto_compare_2.py
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Expand Up @@ -23,8 +23,8 @@ def _add_rigid_base(p_node, _name='rigid_base'):
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])
angularStiffness=stiffness_param, externalIndices="0", mstate="@cosserat_base_mo",
indices="0", template="Rigid3d", activeDirections=[1,1,1,1,1,1,1])
return rigid_base_node


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