C++ SPtr::addObject方法代码示例

Node::SPtr createCard(Node::SPtr  parent, const Coord3& position, const Coord3& rotation)
{
    const std::string visualModel="mesh/card.obj";
    const std::string collisionModel="mesh/cardCollision.obj";
    const std::string inertiaMatrix="BehaviorModels/card.rigid";
    static int colorIdx=0;

    std::vector<std::string> modelTypes;
    modelTypes.push_back("Triangle");
    modelTypes.push_back("Line");
    modelTypes.push_back("Point");

    Node::SPtr  card = sofa::modeling::createEulerSolverNode(parent,"Rigid","Implicit");

    sofa::component::odesolver::EulerImplicitSolver *odeSolver; card->get(odeSolver);
    odeSolver->f_rayleighStiffness.setValue(0.1);
    odeSolver->f_rayleighMass.setValue(0.1);

    CGLinearSolverGraph *cgLinearSolver; card->get(cgLinearSolver);
    cgLinearSolver->f_maxIter.setValue(15);
    cgLinearSolver->f_tolerance.setValue(1e-5);
    cgLinearSolver->f_smallDenominatorThreshold.setValue(1e-5);


    sofa::component::constraintset::LMConstraintSolver::SPtr constraintSolver = sofa::core::objectmodel::New<sofa::component::constraintset::LMConstraintSolver>();
    constraintSolver->constraintVel.setValue(true);
    constraintSolver->constraintPos.setValue(true);
    constraintSolver->numIterations.setValue(25);

    card->addObject(constraintSolver);

    MechanicalObjectRigid3::SPtr dofRigid = sofa::core::objectmodel::New<MechanicalObjectRigid3>(); dofRigid->setName("Rigid Object");
    dofRigid->setTranslation(position[0],position[1],position[2]);
    dofRigid->setRotation(rotation[0],rotation[1],rotation[2]);
    card->addObject(dofRigid);

    UniformMassRigid3::SPtr uniMassRigid = sofa::core::objectmodel::New<UniformMassRigid3>();
    uniMassRigid->setTotalMass(0.5);
    uniMassRigid->setFileMass(inertiaMatrix);
    card->addObject(uniMassRigid);

    //Node VISUAL
    Node::SPtr  RigidVisualNode = sofa::modeling::createVisualNodeRigid(card, dofRigid.get(), visualModel,colors[(colorIdx++)%7]);

    //Node COLLISION
    Node::SPtr  RigidCollisionNode = sofa::modeling::createCollisionNodeRigid(card, dofRigid.get(),collisionModel,modelTypes);

    return card;
}

 void SetUp()
 {
     setSimulation(m_simu = new DAGSimulation());
     m_node = m_simu->createNewGraph("root");
     m_thisObject = New<ThisClass >() ;
     m_node->addObject(m_thisObject) ;
 }

typename Component::SPtr addNew( Node::SPtr parentNode, std::string name="" )
{
    typename Component::SPtr component = New<Component>();
    parentNode->addObject(component);
    component->setName(parentNode->getName()+"_"+name);
    return component;
}

    void SetUp()
    {
        setSimulation(m_simu = new DAGSimulation());
        m_node = m_simu->createNewGraph("root");
        m_thisObject = New<ThisClass>() ;
        m_mecaobject = New<MechanicalObject<DataTypes>>() ;
        m_mecaobject->init() ;

        m_node->addObject(m_mecaobject) ;
        m_node->addObject(m_thisObject) ;
    }

    void SetUp()
    {
        // SetUp1
        setSimulation(m_simu = new DAGSimulation());
        m_thisObject = New<ThisClass >();
        m_node1 = m_simu->createNewGraph("root");
        m_node1->addObject(m_thisObject);


        // SetUp2
        string scene1 =
        "<?xml version='1.0'?>"
        "<Node 	name='Root' gravity='0 0 0' time='0' animate='0'   >       "
        "   <Node name='node'>                                             "
        "       <PlaneROI template='Vec3d' name='PlaneROI' plane='2 0 0  0 0 0  2 2 0  2'/> "
        "   </Node>                                                        "
        "</Node>                                                           " ;

        m_node2 = SceneLoaderXML::loadFromMemory ("testscene",
                                                  scene1.c_str(),
                                                  scene1.size()) ;
    }

    /// It is important to freeze what are the available Data field
    /// of a component and rise warning/errors when some one removed.
    ///
    void attributesTests(){
        m_node = m_root->createChild("node") ;
        m_mass = New< TheUniformMass >() ;
        m_node->addObject(m_mass) ;

        EXPECT_TRUE( m_mass->findData("mass") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("totalmass") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("filename") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("localRange") != nullptr ) ;

        EXPECT_TRUE( m_mass->findData("showGravityCenter") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("showAxisSizeFactor") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("showInitialCenterOfGravity") != nullptr ) ;

        EXPECT_TRUE( m_mass->findData("indices") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("handleTopoChange") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("preserveTotalMass") != nullptr ) ;

        EXPECT_TRUE( m_mass->findData("compute_mapping_inertia") != nullptr ) ;
        EXPECT_TRUE( m_mass->findData("totalMass") != nullptr ) ;
        return ;
    }

// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
    glutInit(&argc,argv);
    sofa::simulation::tree::init();
    sofa::helper::parse("This is a SOFA application.")
    (argc,argv);
    sofa::component::initComponentBase();
    sofa::component::initComponentCommon();
    sofa::component::initComponentGeneral();
    sofa::component::initComponentAdvanced();
    sofa::component::initComponentMisc();
    sofa::gui::initMain();
    sofa::gui::GUIManager::Init(argv[0]);

    // The graph root node : gravity already exists in a GNode by default
    sofa::simulation::setSimulation(new sofa::simulation::tree::TreeSimulation());
    sofa::simulation::Node::SPtr groot = sofa::simulation::getSimulation()->createNewGraph("root");
    groot->setGravity( Coord3(0,-10,0) );

    // One solver for all the graph
    EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New<EulerImplicitSolver>();
    solver->setName("solver");
    solver->f_printLog.setValue(false);
    groot->addObject(solver);

    CGLinearSolver::SPtr linearSolver = New<CGLinearSolver>();
    linearSolver->setName("linearSolver");
    groot->addObject(linearSolver);


    // Tetrahedron degrees of freedom
    MechanicalObject3::SPtr DOF = sofa::core::objectmodel::New<MechanicalObject3>();
    groot->addObject(DOF);
    DOF->resize(4);
    DOF->setName("DOF");
    //get write access to the position vector of mechanical object DOF
    WriteAccessor<Data<VecCoord3> > x = *DOF->write(VecId::position());
    x[0] = Coord3(0,10,0);
    x[1] = Coord3(10,0,0);
    x[2] = Coord3(-10*0.5,0,10*0.866);
    x[3] = Coord3(-10*0.5,0,-10*0.866);
    DOF->showObject.setValue(true);
    DOF->showObjectScale.setValue(10.);


    // Tetrahedron uniform mass
    UniformMass3::SPtr mass = sofa::core::objectmodel::New<UniformMass3>();
    groot->addObject(mass);
    mass->setMass(2);
    mass->setName("mass");

    // Tetrahedron topology
    MeshTopology::SPtr topology = sofa::core::objectmodel::New<MeshTopology>();
    topology->setName("mesh topology");
    groot->addObject( topology );
    topology->addTetra(0,1,2,3);

    // Tetrahedron constraints
    FixedConstraint3::SPtr constraints = sofa::core::objectmodel::New<FixedConstraint3>();
    constraints->setName("constraints");
    groot->addObject(constraints);
    constraints->addConstraint(0);

    // Tetrahedron force field
    TetrahedronFEMForceField3::SPtr fem = sofa::core::objectmodel::New<TetrahedronFEMForceField3>();
    fem->setName("FEM");
    groot->addObject(fem);
    fem->setMethod("polar");
    fem->setUpdateStiffnessMatrix(true);
    fem->setYoungModulus(6);

    // Tetrahedron skin
    Node::SPtr skin = groot.get()->createChild("skin");
    // The visual model
    OglModel::SPtr visual = sofa::core::objectmodel::New<OglModel>();
    visual->setName( "visual" );
    visual->load(sofa::helper::system::DataRepository.getFile("mesh/liver-smooth.obj"), "", "");
    visual->setColor("red");
    visual->applyScale(0.7, 0.7, 0.7);
    visual->applyTranslation(1.2, 0.8, 0);
    skin->addObject(visual);

    // The mapping between the tetrahedron (DOF) and the liver (visual)
    BarycentricMapping3_to_Ext3::SPtr mapping = sofa::core::objectmodel::New<BarycentricMapping3_to_Ext3>();
    mapping->setModels(DOF.get(), visual.get());
    mapping->setName( "mapping" );
    skin->addObject(mapping);

    // Display Flags
    sofa::component::visualmodel::VisualStyle::SPtr style = sofa::core::objectmodel::New<sofa::component::visualmodel::VisualStyle>();
    groot->addObject(style);
    sofa::core::visual::DisplayFlags& flags = *style->displayFlags.beginEdit();
    flags.setShowNormals(false);
    flags.setShowInteractionForceFields(false);
    flags.setShowMechanicalMappings(false);
    flags.setShowCollisionModels(false);
    flags.setShowBoundingCollisionModels(false);
//.........这里部分代码省略.........

/// Create an assembly of a siff hexahedral grid with other objects
simulation::Node::SPtr createGridScene(Vec3 startPoint, Vec3 endPoint, unsigned numX, unsigned numY, unsigned numZ, double totalMass/*, double stiffnessValue, double dampingRatio=0.0*/ )
{
    using helper::vector;

    // The graph root node
    Node::SPtr  root = simulation::getSimulation()->createNewGraph("root");
    root->setGravity( Coord3(0,-10,0) );
    root->setAnimate(false);
    root->setDt(0.01);
    addVisualStyle(root)->setShowVisual(false).setShowCollision(false).setShowMapping(true).setShowBehavior(true);

    Node::SPtr simulatedScene = root->createChild("simulatedScene");

    EulerImplicitSolver::SPtr eulerImplicitSolver = New<EulerImplicitSolver>();
    simulatedScene->addObject( eulerImplicitSolver );
    CGLinearSolver::SPtr cgLinearSolver = New<CGLinearSolver>();
    simulatedScene->addObject(cgLinearSolver);

    // The rigid object
    Node::SPtr rigidNode = simulatedScene->createChild("rigidNode");
    MechanicalObjectRigid3::SPtr rigid_dof = addNew<MechanicalObjectRigid3>(rigidNode, "dof");
    UniformMassRigid3::SPtr rigid_mass = addNew<UniformMassRigid3>(rigidNode,"mass");
    FixedConstraintRigid3::SPtr rigid_fixedConstraint = addNew<FixedConstraintRigid3>(rigidNode,"fixedConstraint");

    // Particles mapped to the rigid object
    Node::SPtr mappedParticles = rigidNode->createChild("mappedParticles");
    MechanicalObject3::SPtr mappedParticles_dof = addNew< MechanicalObject3>(mappedParticles,"dof");
    RigidMappingRigid3_to_3::SPtr mappedParticles_mapping = addNew<RigidMappingRigid3_to_3>(mappedParticles,"mapping");
    mappedParticles_mapping->setModels( rigid_dof.get(), mappedParticles_dof.get() );

    // The independent particles
    Node::SPtr independentParticles = simulatedScene->createChild("independentParticles");
    MechanicalObject3::SPtr independentParticles_dof = addNew< MechanicalObject3>(independentParticles,"dof");

    // The deformable grid, connected to its 2 parents using a MultiMapping
    Node::SPtr deformableGrid = independentParticles->createChild("deformableGrid"); // first parent
    mappedParticles->addChild(deformableGrid);                                       // second parent

    RegularGridTopology::SPtr deformableGrid_grid = addNew<RegularGridTopology>( deformableGrid, "grid" );
    deformableGrid_grid->setNumVertices(numX,numY,numZ);
    deformableGrid_grid->setPos(startPoint[0],endPoint[0],startPoint[1],endPoint[1],startPoint[2],endPoint[2]);

    MechanicalObject3::SPtr deformableGrid_dof = addNew< MechanicalObject3>(deformableGrid,"dof");

    SubsetMultiMapping3_to_3::SPtr deformableGrid_mapping = addNew<SubsetMultiMapping3_to_3>(deformableGrid,"mapping");
    deformableGrid_mapping->addInputModel(independentParticles_dof.get()); // first parent
    deformableGrid_mapping->addInputModel(mappedParticles_dof.get());      // second parent
    deformableGrid_mapping->addOutputModel(deformableGrid_dof.get());

    UniformMass3::SPtr mass = addNew<UniformMass3>(deformableGrid,"mass" );
    mass->mass.setValue( totalMass/(numX*numY*numZ) );

    HexahedronFEMForceField3::SPtr hexaFem = addNew<HexahedronFEMForceField3>(deformableGrid, "hexaFEM");
    hexaFem->f_youngModulus.setValue(1000);
    hexaFem->f_poissonRatio.setValue(0.4);


    // ======  Set up the multimapping and its parents, based on its child
    deformableGrid_grid->init();  // initialize the grid, so that the particles are located in space
    deformableGrid_dof->init();   // create the state vectors
    MechanicalObject3::ReadVecCoord  xgrid = deformableGrid_dof->readPositions(); //    cerr<<"xgrid = " << xgrid << endl;


    // create the rigid frames and their bounding boxes
    unsigned numRigid = 2;
    vector<BoundingBox> boxes(numRigid);
    vector< vector<unsigned> > indices(numRigid); // indices of the particles in each box
    double eps = (endPoint[0]-startPoint[0])/(numX*2);

    // first box, x=xmin
    boxes[0] = BoundingBox(Vec3d(startPoint[0]-eps, startPoint[1]-eps, startPoint[2]-eps),
                           Vec3d(startPoint[0]+eps,   endPoint[1]+eps,   endPoint[2]+eps));

    // second box, x=xmax
    boxes[1] = BoundingBox(Vec3d(endPoint[0]-eps, startPoint[1]-eps, startPoint[2]-eps),
                           Vec3d(endPoint[0]+eps,   endPoint[1]+eps,   endPoint[2]+eps));
    rigid_dof->resize(numRigid);
    MechanicalObjectRigid3::WriteVecCoord xrigid = rigid_dof->writePositions();
    xrigid[0].getCenter()=Vec3d(startPoint[0], 0.5*(startPoint[1]+endPoint[1]), 0.5*(startPoint[2]+endPoint[2]));
    xrigid[1].getCenter()=Vec3d(  endPoint[0], 0.5*(startPoint[1]+endPoint[1]), 0.5*(startPoint[2]+endPoint[2]));

    // find the particles in each box
    vector<bool> isFree(xgrid.size(),true);
    unsigned numMapped = 0;
    for(unsigned i=0; i<xgrid.size(); i++){
        for(unsigned b=0; b<numRigid; b++ )
        {
            if( isFree[i] && boxes[b].contains(xgrid[i]) )
            {
                indices[b].push_back(i); // associate the particle with the box
                isFree[i] = false;
                numMapped++;
            }
        }
    }

    // distribution of the grid particles to the different parents (independent particle or solids.
    vector< pair<MechanicalObject3*,unsigned> > parentParticles(xgrid.size());

//.........这里部分代码省略.........