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add binding to convert elastic parameters to Lamé's parameters (#621)
* add binding to convert elastic parameters to Lamé's parameters * add example of toLameParameters3D * cleaning
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Lines changed: 180 additions & 2 deletions

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‎bindings/Modules/src/SofaPython3/SofaDeformable/Binding_LameParameters.cpp‎

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/******************************************************************************
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* SofaPython3 plugin *
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* (c) 2021 CNRS, University of Lille, INRIA *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#include <pybind11/pybind11.h>
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#include <SofaPython3/SofaDeformable/Binding_LameParameters.h>
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#include <sofa/component/solidmechanics/fem/elastic/impl/LameParameters.h>
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namespace sofapython3
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{
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void moduleAddLameParameters(pybind11::module &m)
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{
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using namespace sofa::component::solidmechanics::fem::elastic;
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m.def(
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"toLameParameters2D",
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[](SReal youngModulus, SReal poissonRatio) {
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LameLambda<SReal> lambda{0};
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LameMu<SReal> mu{0};
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toLameParameters<2>(YoungModulus<SReal>(youngModulus),
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PoissonRatio<SReal>(poissonRatio), lambda, mu);
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return std::make_pair(mu.get(), lambda.get());
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},
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pybind11::arg("youngModulus"), pybind11::arg("poissonRatio"),
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"Converts Young's modulus and Poisson's ratio to Lamé parameters (mu, "
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"lambda) for 2D.");
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m.def(
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"toLameParameters3D",
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[](SReal youngModulus, SReal poissonRatio) {
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LameLambda<SReal> lambda{0};
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LameMu<SReal> mu{0};
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toLameParameters<3>(YoungModulus<SReal>(youngModulus),
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PoissonRatio<SReal>(poissonRatio), lambda, mu);
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return std::make_pair(mu.get(), lambda.get());
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},
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pybind11::arg("youngModulus"), pybind11::arg("poissonRatio"),
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"Converts Young's modulus and Poisson's ratio to Lamé parameters (mu, "
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"lambda) for 3D.");
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}
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} // namespace sofapython3

‎bindings/Modules/src/SofaPython3/SofaDeformable/Binding_LameParameters.h‎

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/******************************************************************************
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* SOFA, Simulation Open-Framework Architecture *
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* (c) 2021 INRIA, USTL, UJF, CNRS, MGH *
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* *
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* This program is free software; you can redistribute it and/or modify it *
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* under the terms of the GNU Lesser General Public License as published by *
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* the Free Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. *
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* *
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* This program is distributed in the hope that it will be useful, but WITHOUT *
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* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
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* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
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* for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with this program. If not, see <http://www.gnu.org/licenses/>. *
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*******************************************************************************
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* Contact information: contact@sofa-framework.org *
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******************************************************************************/
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#pragma once
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#include <pybind11/pybind11.h>
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namespace sofapython3
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{
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void moduleAddLameParameters(pybind11::module& m);
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} // namespace sofapython3

‎bindings/Modules/src/SofaPython3/SofaDeformable/CMakeLists.txt‎

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project(Bindings.Modules.SofaDeformable)
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set(SOURCE_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Module_SofaDeformable.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LameParameters.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SpringForceField.cpp
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${CMAKE_CURRENT_SOURCE_DIR}/Module_SofaDeformable.cpp
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)
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set(HEADER_FILES
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LameParameters.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_LinearSpring_doc.h
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${CMAKE_CURRENT_SOURCE_DIR}/Binding_SpringForceField.h
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endif()
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sofa_find_package(Sofa.Component.SolidMechanics.Spring REQUIRED)
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sofa_find_package(Sofa.Component.SolidMechanics.FEM.Elastic REQUIRED)
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SP3_add_python_module(
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TARGET ${PROJECT_NAME}
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DESTINATION Sofa
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SOURCES ${SOURCE_FILES}
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HEADERS ${HEADER_FILES}
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DEPENDS Sofa.Component.SolidMechanics.Spring SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
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DEPENDS Sofa.Component.SolidMechanics.Spring Sofa.Component.SolidMechanics.FEM.Elastic SofaPython3::Plugin SofaPython3::Bindings.Sofa.Core
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)

‎bindings/Modules/src/SofaPython3/SofaDeformable/Module_SofaDeformable.cpp‎

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#include <pybind11/pybind11.h>
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#include <SofaPython3/SofaDeformable/Binding_LinearSpring.h>
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#include <SofaPython3/SofaDeformable/Binding_SpringForceField.h>
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#include <SofaPython3/SofaDeformable/Binding_LameParameters.h>
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namespace py { using namespace pybind11; }
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moduleAddLinearSpring(m);
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moduleAddSpringForceField(m);
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moduleAddLameParameters(m);
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}
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} // namespace sofapython3

‎examples/stvenant_kirchhoff.py‎

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import Sofa
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import Sofa.SofaDeformable
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from Sofa.Units.Definitions import s, m, cm, N, g, kg, MPa
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from Sofa.Units.UnitSystem import MechanicalUnitSystem
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def createScene(root_node):
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plugins = [
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"Sofa.Component.Constraint.Projective",
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"Sofa.Component.Engine.Select",
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"Sofa.Component.LinearSolver.Direct",
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"Sofa.Component.Mapping.Linear",
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"Sofa.Component.Mass",
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"Sofa.Component.ODESolver.Backward",
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"Sofa.Component.SolidMechanics.FEM.HyperElastic",
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"Sofa.Component.StateContainer",
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"Sofa.Component.Topology.Container.Dynamic",
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"Sofa.Component.Topology.Container.Grid",
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"Sofa.Component.Topology.Mapping",
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"Sofa.GL.Component.Rendering3D",
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"Sofa.Component.SolidMechanics.FEM.Elastic"
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]
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root_node.addObject('RequiredPlugin', pluginName=plugins)
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scene_unit = MechanicalUnitSystem(s, cm, g)
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root_node.gravity = scene_unit([0, -9.81, 0], N / kg)
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root_node.dt = scene_unit(0.01, s)
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root_node.addObject('EulerImplicitSolver', name="backwardEuler", rayleighStiffness=0.1, rayleighMass=0.1)
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root_node.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixMat3x3d")
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root_node.addObject('RegularGridTopology', name="grid", min=[-5, -5, 0], max=[5, 5, 40], n=[5, 5, 20])
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root_node.addObject('MechanicalObject', template="Vec3", name="state")
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root_node.addObject('NodalMassDensity', property=scene_unit(1150, kg/m**3))
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root_node.addObject('FEMMass', template="Vec3,Hexahedron", topology="@grid")
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with root_node.addChild('tetra') as tetra:
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tetra.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
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tetra.addObject('TetrahedronSetTopologyModifier', name="Modifier")
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tetra.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo", drawTetrahedra="false")
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tetra.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
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young_modulus = scene_unit(0.5, MPa)
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poisson_ratio = 0.45
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lame_parameters = Sofa.SofaDeformable.toLameParameters3D(young_modulus, poisson_ratio)
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tetra.addObject('TetrahedronHyperelasticityFEMForceField', name="FEM", topology="@Tetra_topo",
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ParameterSet=lame_parameters, materialName="StVenantKirchhoff")
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with tetra.addChild('triangles') as triangles:
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triangles.addObject('TriangleSetTopologyContainer', name="Container")
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triangles.addObject('TriangleSetTopologyModifier')
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triangles.addObject('Tetra2TriangleTopologicalMapping', input="@../Tetra_topo", output="@Container")
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with triangles.addChild('Visu') as visu:
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visu.addObject('OglModel', name="Visual", color="red")
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visu.addObject('IdentityMapping', input="@../../../state", output="@Visual")
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root_node.addObject('BoxROI', template="Vec3", name="box_roi", box=[-6, -6, -1, 6, 6, 0.1])
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root_node.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
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def main():
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import Sofa
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import SofaImGui
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root = Sofa.Core.Node("root")
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createScene(root)
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Sofa.Simulation.initRoot(root)
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import Sofa.Gui
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Sofa.Gui.GUIManager.Init("myscene", "imgui")
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Sofa.Gui.GUIManager.createGUI(root, __file__)
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Sofa.Gui.GUIManager.SetDimension(1080, 1080)
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Sofa.Gui.GUIManager.MainLoop(root)
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Sofa.Gui.GUIManager.closeGUI()
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if __name__ == '__main__':
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main()

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