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Apply SOFA PR 4750 changes #312

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3b51664
Apply data name changes
bakpaul Dec 10, 2024
86e2b8d
Fix name
bakpaul Dec 10, 2024
d7c77e7
Merge branch 'master' into apply_data_name_change_restshapespringforc…
bakpaul Mar 4, 2025
6778a68
Use FixedweakConstraint instead when possible
bakpaul Mar 4, 2025
9d8fd0f
Fix scene
bakpaul Apr 3, 2025
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2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/CableSmoothActuation.py
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Expand Up @@ -53,7 +53,7 @@ def createScene(rootNode):
bunny.addObject('FastTetrahedralCorotationalForceField', template='Vec3', name='FEM', method='large', poissonRatio='0.3', youngModulus='10000')

bunny.addObject('BoxROI', name='boxROI', box=[-5, -5.0, -5, 5, -4.5, 5], drawBoxes=True)
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness='1e12')
bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness='1e12')

bunny.addObject('GenericConstraintCorrection')

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4 changes: 2 additions & 2 deletions examples/component/constraint/CableConstraint/Finger.py
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Expand Up @@ -73,10 +73,10 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points=finger.roi.indices.getLinkPath(), stiffness=1e12)
finger.addObject('FixedWeakConstraint', indices=finger.roi.indices.getLinkPath(), stiffness=1e12)

# It is also possible to simply set by hand the indices of the points you want to fix.
# finger.addObject('RestShapeSpringsForceField', points=[0, 1, 2, 11, 55], stiffness=1e12)
# finger.addObject('RestShapeSpringsForceField', indices=[0, 1, 2, 11, 55], stiffness=1e12)

finger.addObject('GenericConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/component/constraint/CableConstraint/FingerWithSTLIB.py
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Expand Up @@ -56,7 +56,7 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
finger.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)

##########################################
# Cable #
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2 changes: 1 addition & 1 deletion examples/component/constraint/JointConstraint/JointConstraint.py
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Expand Up @@ -38,7 +38,7 @@ def createScene(rootNode):

object = simulation.addChild('Object')
object.addObject('MechanicalObject', template='Vec1', position=0.)
object.addObject("RestShapeSpringsForceField", points=[0], stiffness=1e1)
object.addObject("FixedWeakConstraint", indices=[0], stiffness=1e1)
# Try to change the data field "value" from the GUI
object.addObject('JointConstraint', template='Vec1', index=0, value=0, valueType="displacement",
minDisplacement=-pi, maxDisplacement=pi)
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2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/Springy.py
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Expand Up @@ -55,7 +55,7 @@ def createScene(rootNode):
youngModulus=500)

accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)
# accordion.addObject('FixedProjectiveConstraint', indices='@ROI1.indices')

accordion.addObject('LinearSolverConstraintCorrection')
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2 changes: 1 addition & 1 deletion examples/component/constraint/SurfacePressureConstraint/SurfacePressureConstraint.py
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Expand Up @@ -49,7 +49,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -7, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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2 changes: 1 addition & 1 deletion examples/component/constraint/UnilateralPlaneConstraint/ArticulatedTentacle.py
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Expand Up @@ -63,7 +63,7 @@ def createScene(rootNode):
tentacle.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3, youngModulus=200)

tentacle.addObject('BoxROI', name='ROI1', box=[[50, -20, 30],[75, 20, 50]], drawBoxes=True)
tentacle.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
tentacle.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)

tentacle.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/component/controller/CommunicationController/modules/accordion3.py
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Expand Up @@ -13,7 +13,7 @@ def addAccordion(node, inverse=False):
accordion.addObject('UniformMass', totalMass=0.030)
accordion.addObject('TetrahedronFEMForceField', template='Vec3', name='FEM', method='large', poissonRatio=0.3, youngModulus=500)
accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)
accordion.addObject('LinearSolverConstraintCorrection')

# Pressure
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2 changes: 1 addition & 1 deletion examples/component/controller/DataVariationLimiter/DataVariationLimiter.py
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Expand Up @@ -94,7 +94,7 @@ def createScene(rootNode):
youngModulus=500)

accordion.addObject('BoxROI', name='ROI1', box=[-2, -2, 0, 2, 2, 0.5], drawBoxes=True)
accordion.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness=1e12)
accordion.addObject('FixedWeakConstraint', indices='@ROI1.indices', stiffness=1e12)

accordion.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T1-Elements_TetraHexaBeam/Beam/Beam.py
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Expand Up @@ -36,7 +36,7 @@ def createScene(rootNode):
beam.addObject('BeamInterpolation', name='interpol', crossSectionShape='rectangular', lengthY=5, lengthZ=5,
defaultYoungModulus=1.8e6)
beam.addObject('AdaptiveBeamForceFieldAndMass', name="BeamForceField", computeMass=1, massDensity=0.001)
beam.addObject('RestShapeSpringsForceField', points=0, stiffness=100e10, angularStiffness=100e10)
beam.addObject('FixedWeakConstraint', indices=0, stiffness=100e10, angularStiffness=100e10)

# Visualization
visuNode = beam.addChild('visualization')
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4 changes: 2 additions & 2 deletions examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableDisplacement.py
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Expand Up @@ -53,10 +53,10 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI.indices', stiffness=1e12)
finger.addObject('FixedWeakConstraint', indices='@ROI.indices', stiffness=1e12)

# It is also possible to simply set by hand the indices of the points you want to fix.
# finger.addObject('RestShapeSpringsForceField', points=[0, 1, 2, 11, 55], stiffness=1e12)
# finger.addObject('RestShapeSpringsForceField', indices=[0, 1, 2, 11, 55], stiffness=1e12)

finger.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Cable/CableForce.py
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Expand Up @@ -50,7 +50,7 @@ def createScene(rootNode):

# RestShapeSpringsForceField is one way in Sofa to implement fixed point constraint.
# Here the constraints are applied to the DoFs selected by the previously defined BoxROI
finger.addObject('RestShapeSpringsForceField', points='@ROI.indices', stiffness=1e12)
finger.addObject('FixedWeakConstraint', indices='@ROI.indices', stiffness=1e12)

finger.addObject('LinearSolverConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintPressure.py
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Expand Up @@ -31,7 +31,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -15, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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2 changes: 1 addition & 1 deletion examples/thematicalDocs/T4-DirectActuation/Actuators/Pneumatic/SurfaceConstraintVolume.py
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Expand Up @@ -29,7 +29,7 @@ def createScene(rootNode):

bunny.addObject('BoxROI', name='boxROI', box=[-5, -15, -5, 5, -4.5, 5], drawBoxes=True,
position="@tetras.rest_position", tetrahedra="@container.tetrahedra")
bunny.addObject('RestShapeSpringsForceField', points='@boxROI.indices', stiffness=1e12)
bunny.addObject('FixedWeakConstraint', indices='@boxROI.indices', stiffness=1e12)
bunny.addObject('LinearSolverConstraintCorrection')

# bunny/cavity
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22 changes: 3 additions & 19 deletions examples/thematicalDocs/T4-DirectActuation/DriveTheRobot/Simulation.py
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Expand Up @@ -50,25 +50,9 @@ def createScene(rootNode):

robot.addObject('LinearSolverConstraintCorrection')

leg0 = rootNode.addChild('RestPositionLeg0')
leg0.addObject('MechanicalObject', name='meca0', template='Vec3', showObject=True, showObjectScale=15,
showIndices=False, showIndicesScale=4e-5,
position='@../robot/boxROI1.pointsInROI')
leg1 = rootNode.addChild('RestPositionLeg1')
leg1.addObject('MechanicalObject', name='meca1', template='Vec3', showObject=True, showObjectScale=15,
showIndices=False, showIndicesScale=4e-5,
position='@../robot/boxROI2.pointsInROI')
leg2 = rootNode.addChild('RestPositionLeg2')
leg2.addObject('MechanicalObject', name='meca2', template='Vec3', showObject=True, showObjectScale=15,
showIndices=False, showIndicesScale=4e-5,
position='@../robot/boxROI3.pointsInROI')

robot.addObject('RestShapeSpringsForceField', name='fixed1', points="@boxROI1.indices",
external_rest_shape="@RestPositionLeg0/meca0", stiffness=1e3)
robot.addObject('RestShapeSpringsForceField', name='fixed2', points="@boxROI2.indices",
external_rest_shape="@RestPositionLeg1/meca1", stiffness=1e3)
robot.addObject('RestShapeSpringsForceField', name='fixed3', points="@boxROI3.indices",
external_rest_shape="@RestPositionLeg2/meca2", stiffness=1e3)
robot.addObject('FixedWeakConstraint', name='fixed1', indices="@boxROI1.indices", stiffness=1e3)
robot.addObject('FixedWeakConstraint', name='fixed2', indices="@boxROI2.indices", stiffness=1e3)
robot.addObject('FixedWeakConstraint', name='fixed3', indices="@boxROI3.indices", stiffness=1e3)

###############################
# VISUAL MODEL
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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step4-boundaryConditions.py
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Expand Up @@ -26,7 +26,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('FixedWeakConstraint', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)

modelSubTopo = finger.addChild('SubTopology')
modelSubTopo.addObject('MeshTopology', position='@loader.position', name='container',
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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step5-timeIntegrationAndMatrixSolver.py
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Expand Up @@ -32,7 +32,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('FixedWeakConstraint', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)

modelSubTopo = finger.addChild('SubTopology')
modelSubTopo.addObject('MeshTopology', position='@loader.position', tetrahedra=boxROISubTopo.tetrahedraInROI.linkpath,
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2 changes: 1 addition & 1 deletion ...ples/tutorials/PneunetGripper/details/step6-pneumaticActuatorAndPythonScriptController.py
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Expand Up @@ -38,7 +38,7 @@ def createScene(rootNode):
finger.addObject('UniformMass', totalMass=0.04)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], drawBoxes=True)
finger.addObject('RestShapeSpringsForceField', points=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('FixedWeakConstraint', indices=boxROI.indices.linkpath, stiffness=1e12, angularStiffness=1e12)
finger.addObject('GenericConstraintCorrection')

modelSubTopo = finger.addChild('SubTopology')
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4 changes: 2 additions & 2 deletions examples/tutorials/PneunetGripper/details/step7-grabTheCube.py
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Expand Up @@ -114,8 +114,8 @@ def createScene(rootNode):
if i == 0:
boxROI = finger.addObject('BoxROI', name='boxROI', box=[-10, 0, -20, 0, 30, 20], doUpdate=False)
boxROISubTopo = finger.addObject('BoxROI', name='boxROISubTopo', box=[-100, 22.5, -8, -19, 28, 8], strict=False)
finger.addObject('RestShapeSpringsForceField',
points=boxROI.indices.linkpath,
finger.addObject('FixedWeakConstraint',
indices=boxROI.indices.linkpath,
stiffness=1e12, angularStiffness=1e12)
finger.addObject('GenericConstraintCorrection')

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2 changes: 1 addition & 1 deletion examples/tutorials/PneunetGripper/details/step7-withSTLIB.py
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Expand Up @@ -75,7 +75,7 @@ def createScene(rootNode):
finger.integration.rayleighMass = 0.1

finger.addObject('BoxROI', name='boxROI', box=fingersParameters[i]['ROIBox'], drawBoxes=True, doUpdate=False)
finger.addObject('RestShapeSpringsForceField', points='@../Finger1/boxROI.indices', stiffness=1e12,
finger.addObject('FixedWeakConstraint', indices='@../Finger1/boxROI.indices', stiffness=1e12,
angularStiffness=1e12)

PneumaticCavity(surfaceMeshFileName=fingersCavitySurfaceMesh,
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8 changes: 4 additions & 4 deletions examples/tutorials/PneunetGripper/pneunetgripper-tuto.html
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Expand Up @@ -105,9 +105,9 @@ <h3 id="stiff-layer">Stiff layer</h3>
<a class="sourceLine" id="cb6-4" title="4">modelSubTopo.addObject(<span class="st">&#39;TetrahedronFEMForceField&#39;</span>, template<span class="op">=</span><span class="st">&#39;Vec3d&#39;</span>, name<span class="op">=</span><span class="st">&#39;FEM&#39;</span>, method<span class="op">=</span><span class="st">&#39;large&#39;</span>, poissonRatio<span class="op">=</span><span class="fl">0.3</span>, youngModulus<span class="op">=</span><span class="dv">1500</span>)</a></code></pre></div>
<p><a href="details/step3-stiffLayer.py">Step3</a></p>
<h2 id="boundary-conditions">Boundary Conditions</h2>
<p>To fix the finger in space, it is necessary to define boundary conditions on some parts of the object. This can be done in several ways in SOFA. In this case, we use the component RestShapeSpringsForceField, which creates springs between the current position of a part of the body and its initial position. The stiffness of these springs can be adjusted. In particular, setting a very large stiffness will be equivalent to fixing the points in space. To easily define the indices of the points which will be fixed, we use the boxROI component:</p>
<p>To fix the finger in space, it is necessary to define boundary conditions on some parts of the object. This can be done in several ways in SOFA. In this case, we use the component FixedWeakConstraint, which creates springs between the current position of a part of the body and its initial position. The stiffness of these springs can be adjusted. In particular, setting a very large stiffness will be equivalent to fixing the points in space. To easily define the indices of the points which will be fixed, we use the boxROI component:</p>
<div class="sourceCode" id="cb7"><pre class="sourceCode python"><code class="sourceCode python"><a class="sourceLine" id="cb7-1" title="1">finger.addObject(<span class="st">&#39;BoxROI&#39;</span>, name<span class="op">=</span><span class="st">&#39;boxROI&#39;</span>, box<span class="op">=</span>[<span class="op">-</span><span class="dv">10</span>, <span class="dv">0</span>, <span class="dv">-20</span>, <span class="dv">0</span>, <span class="dv">30</span>, <span class="dv">20</span>])</a>
<a class="sourceLine" id="cb7-2" title="2">finger.addObject(<span class="st">&#39;RestShapeSpringsForceField&#39;</span>, points<span class="op">=</span><span class="st">&#39;@boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a></code></pre></div>
<a class="sourceLine" id="cb7-2" title="2">finger.addObject(<span class="st">&#39;FixedWeakConstraint&#39;</span>, indices<span class="op">=</span><span class="st">&#39;@boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a></code></pre></div>
<p><a href="details/step4-boundaryConditions.py">Step4</a></p>
<h2 id="implicit-time-integration-and-matrix-solver">Implicit Time Integration and Matrix Solver</h2>
<p>Now that all the minimal elements of the scene have been described, it is already possible to simulate the deformation of the finger. To do that, we need to define a time integration scheme, which will define the system to be solved at each time step of the simulation, as well as a matrix solver, to solve that system and compute the updated velocities and positions of the nodes of the robot. In this case, we choose to use an Implicit Euler Scheme and a sparse direct Solver base on an LDL matrix decomposition:</p>
Expand Down Expand Up @@ -271,9 +271,9 @@ <h2 id="appendix">Appendix</h2>
<a class="sourceLine" id="cb18-84" title="84"> finger.addObject(<span class="st">&#39;BoxROI&#39;</span>, name<span class="op">=</span><span class="st">&#39;boxROI&#39;</span>, box<span class="op">=</span>[<span class="op">-</span><span class="dv">10</span>, <span class="dv">0</span>, <span class="dv">-20</span>, <span class="dv">0</span>, <span class="dv">30</span>, <span class="dv">20</span>])</a>
<a class="sourceLine" id="cb18-85" title="85"> finger.addObject(<span class="st">&#39;BoxROI&#39;</span>, name<span class="op">=</span><span class="st">&#39;boxROISubTopo&#39;</span>, box<span class="op">=</span>[<span class="op">-</span><span class="dv">100</span>, <span class="fl">22.5</span>, <span class="dv">-8</span>, <span class="dv">-19</span>, <span class="dv">28</span>, <span class="dv">8</span>], strict<span class="op">=</span><span class="va">False</span>)</a>
<a class="sourceLine" id="cb18-86" title="86"> <span class="cf">if</span> i <span class="op">==</span> <span class="dv">0</span>:</a>
<a class="sourceLine" id="cb18-87" title="87"> finger.addObject(<span class="st">&#39;RestShapeSpringsForceField&#39;</span>, points<span class="op">=</span><span class="st">&#39;@boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a>
<a class="sourceLine" id="cb18-87" title="87"> finger.addObject(<span class="st">&#39;FixedWeakConstraint&#39;</span>, indices<span class="op">=</span><span class="st">&#39;@boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a>
<a class="sourceLine" id="cb18-88" title="88"> <span class="cf">else</span>:</a>
<a class="sourceLine" id="cb18-89" title="89"> finger.addObject(<span class="st">&#39;RestShapeSpringsForceField&#39;</span>, points<span class="op">=</span><span class="st">&#39;@../finger1/boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a>
<a class="sourceLine" id="cb18-89" title="89"> finger.addObject(<span class="st">&#39;FixedWeakConstraint&#39;</span>, indices<span class="op">=</span><span class="st">&#39;@../finger1/boxROI.indices&#39;</span>, stiffness<span class="op">=</span><span class="fl">1e12</span>, angularStiffness<span class="op">=</span><span class="fl">1e12</span>)</a>
<a class="sourceLine" id="cb18-90" title="90"></a>
<a class="sourceLine" id="cb18-91" title="91"> finger.addObject(<span class="st">&#39;LinearSolverConstraintCorrection&#39;</span>, solverName<span class="op">=</span><span class="st">&#39;preconditioner&#39;</span>)</a>
<a class="sourceLine" id="cb18-92" title="92"></a>
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