add example of toLameParameters3D

Author: alxbilger

examples/stvenant_kirchhoff.py

@@ -0,0 +1,83 @@
+import Sofa
+import Sofa.SofaDeformable
+
+from Sofa.Units.Definitions import s, m, cm, N, g, kg, MPa
+from Sofa.Units.UnitSystem import MechanicalUnitSystem
+
+def createScene(root_node):
+
+    plugins = [
+        "Sofa.Component.Constraint.Projective",
+        "Sofa.Component.Engine.Select",
+        "Sofa.Component.LinearSolver.Direct",
+        "Sofa.Component.Mapping.Linear",
+        "Sofa.Component.Mass",
+        "Sofa.Component.ODESolver.Backward",
+        "Sofa.Component.SolidMechanics.FEM.HyperElastic",
+        "Sofa.Component.StateContainer",
+        "Sofa.Component.Topology.Container.Dynamic",
+        "Sofa.Component.Topology.Container.Grid",
+        "Sofa.Component.Topology.Mapping",
+        "Sofa.GL.Component.Rendering3D",
+        "Sofa.Component.SolidMechanics.FEM.Elastic"
+    ]
+    root_node.addObject('RequiredPlugin', pluginName=plugins)
+
+    scene_unit = MechanicalUnitSystem(s, cm, g)
+
+    root_node.gravity = scene_unit([0, -9.81, 0], N / kg)
+    root_node.dt = scene_unit(0.01, s)
+
+    root_node.addObject('EulerImplicitSolver', name="backwardEuler", rayleighStiffness=0.1, rayleighMass=0.1)
+    root_node.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
+    root_node.addObject('RegularGridTopology', name="grid", min=[-5, -5, 0], max=[5, 5, 40], n=[5, 5, 20])
+    root_node.addObject('MechanicalObject', template="Vec3", name="state", showObject="true")
+    root_node.addObject('NodalMassDensity', property=scene_unit(2329.6, kg/m**3))
+    root_node.addObject('FEMMass', template="Vec3,Hexahedron", topology="@grid")
+
+    with root_node.addChild('tetra') as tetra:
+
+        tetra.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
+        tetra.addObject('TetrahedronSetTopologyModifier', name="Modifier")
+        tetra.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo", drawTetrahedra="false")
+        tetra.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
+
+        young_modulus = scene_unit(1, MPa)
+        poisson_ratio = 0.45
+        lame_parameters = Sofa.SofaDeformable.toLameParameters3D(young_modulus, poisson_ratio)
+        tetra.addObject('TetrahedronHyperelasticityFEMForceField', name="FEM", topology="@Tetra_topo",
+                        ParameterSet=lame_parameters, materialName="StVenantKirchhoff")
+
+    with tetra.addChild('triangles') as triangles:
+
+        triangles.addObject('TriangleSetTopologyContainer', name="Container")
+        triangles.addObject('TriangleSetTopologyModifier')
+        triangles.addObject('Tetra2TriangleTopologicalMapping', input="@../Tetra_topo", output="@Container")
+
+    with triangles.addChild('Visu') as visu:
+
+        visu.addObject('OglModel', name="Visual", color="red")
+        visu.addObject('IdentityMapping', input="@../../../state", output="@Visual")
+
+    root_node.addObject('BoxROI', template="Vec3", name="box_roi", box=[-6, -6, -1, 6, 6, 0.1], drawBoxes="1")
+    root_node.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
+
+
+def main():
+    import Sofa
+    import SofaImGui
+
+    root = Sofa.Core.Node("root")
+    createScene(root)
+    Sofa.Simulation.initRoot(root)
+
+    import Sofa.Gui
+    Sofa.Gui.GUIManager.Init("myscene", "imgui")
+    Sofa.Gui.GUIManager.createGUI(root, __file__)
+    Sofa.Gui.GUIManager.SetDimension(1080, 1080)
+    Sofa.Gui.GUIManager.MainLoop(root)
+    Sofa.Gui.GUIManager.closeGUI()
+
+
+if __name__ == '__main__':
+    main()