[Prefab] Add plane geometry

splib/simulation/headers.py

@@ -122,7 +122,7 @@ def setupLagrangianCollision(node,  displayFlags = "showVisualModels",background
         node.addObject('CollisionResponse',name="ContactManager", response="FrictionContactConstraint", responseParams="mu="+str(frictionCoef),**kwargs)
 
     node.addObject('NewProximityIntersection' ,name="Distance", alarmDistance=alarmDistance, contactDistance=contactDistance, **kwargs)
-    node.addObject('GenericConstraintSolver',name="ConstraintSolver", tolerance=tolerance, maxIterations=maxIterations, multithreading=parallelComputing,**kwargs)
+    node.addObject('ProjectedGaussSeidelConstraintSolver',name="ConstraintSolver", tolerance=tolerance, maxIterations=maxIterations, multithreading=parallelComputing,**kwargs)
     node.addObject("ConstraintAttachButtonSetting")
 
     return node

stlib/collision.py

@@ -27,7 +27,7 @@ def __init__(self, parameters: CollisionParameters):
 
     def init(self):
 
-        geom = self.add(Geometry, self.parameters.geometry)
+        geom = self.add(Geometry, parameters = self.parameters.geometry)
 
         self.addObject("MechanicalObject", template="Vec3", position=f"@{self.parameters.geometry.name}/container.position")
         for primitive in self.parameters.primitives:

stlib/geometries/__geometry__.py

@@ -4,7 +4,9 @@
 from splib.topology.static import addStaticTopology
 from splib.core.enum_types import ElementType
 from splib.core.utils import DEFAULT_VALUE
-from Sofa.Core import Object 
+from Sofa.Core import Object
+
+import numpy as np
 
 
 class Geometry(BasePrefab):...
@@ -33,6 +35,10 @@ class GeometryParameters(BaseParameters):
 
     dynamicTopology : bool = False
 
+    def Data(self):
+        return InternalDataProvider()
+
+
 
 class Geometry(BasePrefab):
     # container : Object # This should be more specialized into the right SOFA type
@@ -48,7 +54,7 @@ def __init__(self, parameters: GeometryParameters):
     def init(self):
 
         # Generate attribute (positions, edges, triangles, quads, tetrahedra, hexahedra) from the internal data provider
-        if self.parameters.data is not None :
+        if isinstance(self.parameters.data, InternalDataProvider) :
             self.parameters.data.generateAttribute(self)
         if self.parameters.dynamicTopology :
             if self.parameters.elementType is not None :

stlib/geometries/plane.py

@@ -0,0 +1,45 @@
+from stlib.geometries import GeometryParameters, InternalDataProvider, Geometry
+import dataclasses
+import numpy as np
+
+@dataclasses.dataclass
+class PlaneDataProvider(InternalDataProvider):
+    center : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([0,0,0]))
+    normal : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([0,0,1]))
+    lengthNormal : np.ndarray[float] = dataclasses.field(default_factory = lambda : np.array([1,0,0]))
+    lengthNbEdge : int = 1
+    widthNbEdge : int = 1
+    lengthSize : float = 1.0
+    widthSize : float = 1.0
+
+    def __post_init__(self, **kwargs):
+        InternalDataProvider.__init__(self,**kwargs)
+
+    def generateAttribute(self, parent : Geometry):
+
+        lengthEdgeSize = self.lengthSize / self.lengthNbEdge
+        widthEdgeSize = self.widthSize / self.widthNbEdge
+
+        self.widthNormal = np.cross(self.normal,self.lengthNormal)
+        bottomLeftCorner = self.center - self.lengthNormal * self.lengthNbEdge * lengthEdgeSize / 2 - self.widthNormal * self.widthNbEdge * widthEdgeSize / 2
+
+        self.position = np.array([[ bottomLeftCorner + j * self.widthNormal * widthEdgeSize + i * self.lengthNormal * lengthEdgeSize   for j in range(self.widthNbEdge + 1) ] for i in range(self.lengthNbEdge + 1)])
+
+        self.triangles = np.empty((2 * self.widthNbEdge * self.lengthNbEdge, 3), dtype = int)
+        for i in range(self.lengthNbEdge):
+            for j in range(self.widthNbEdge):
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 0] = j     + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 1] = j     + (i+1) * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2    , 2] = j + 1 + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 0] = j + 1 + i     * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 1] = j     + (i+1) * (self.widthNbEdge + 1)
+                self.triangles[i*self.widthNbEdge*2 + j * 2 + 1, 2] = j + 1 + (i+1) * (self.widthNbEdge + 1)
+
+
+
+
+class PlaneParameters(GeometryParameters):
+
+    def __init__(self,  center, normal, lengthNormal, lengthNbEdge, widthNbEdge, lengthSize, widthSize, dynamicTopology = False):
+        GeometryParameters.__init__(self, data = PlaneDataProvider(center=center, normal=normal, lengthNormal=lengthNormal, lengthNbEdge=lengthNbEdge, widthNbEdge=widthNbEdge, lengthSize=lengthSize, widthSize=widthSize),
+                                    dynamicTopology = dynamicTopology)