From b97aed82f9e81f753bc059426e059e1d9afbb0fb Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 3 May 2024 16:45:22 +0200 Subject: [PATCH 1/8] Add an example of a hexaBeam scene under the gravity force. (cherry picked from commit 690c49743bf5a7aaa0bb9a66730415a159974dae) --- examples/others/hexaBeam/hexaBeam_gravity.py | 61 ++++++++++++++++++++ 1 file changed, 61 insertions(+) create mode 100644 examples/others/hexaBeam/hexaBeam_gravity.py diff --git a/examples/others/hexaBeam/hexaBeam_gravity.py b/examples/others/hexaBeam/hexaBeam_gravity.py new file mode 100644 index 00000000..582ed692 --- /dev/null +++ b/examples/others/hexaBeam/hexaBeam_gravity.py @@ -0,0 +1,61 @@ +# -*- coding: utf-8 -*- +import os +import Sofa + +plugins=["SofaPython3","SoftRobots","ModelOrderReduction","STLIB", + + "Sofa.Component.Visual", + "Sofa.Component.AnimationLoop", + "Sofa.GL.Component.Rendering3D", + "Sofa.Component.Constraint.Lagrangian.Solver", + 'Sofa.Component.IO.Mesh', + 'Sofa.Component.Playback', + 'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection] + 'Sofa.Component.Engine.Select', # Needed to use components [BoxROI] + 'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver] + 'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping] + 'Sofa.Component.Mass', # Needed to use components [UniformMass] + 'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver] + 'Sofa.Component.SolidMechanics.FEM.Elastic', # Needed to use components [TetrahedronFEMForceField] + 'Sofa.Component.SolidMechanics.Spring', # Needed to use components [RestShapeSpringsForceField] + 'Sofa.Component.StateContainer', # Needed to use components [MechanicalObject] + 'Sofa.Component.Topology.Container.Dynamic', # Needed to use components [TetrahedronSetTopologyContainer] + 'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint] + 'Sofa.Component.Topology.Container.Grid'] # Needed to use components [RegularGridTopology] + + + +def createScene(rootNode): + + rootNode.findData('dt').value=0.02 + rootNode.findData('gravity').value=[0, -9810, 0] + rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showForceFields') + rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False) + rootNode.addObject('FreeMotionAnimationLoop') + rootNode.addObject('GenericConstraintSolver', tolerance="1e-12", maxIterations="10000") + + + M1 = rootNode.addChild("M1") + M1.addObject('EulerImplicitSolver',rayleighStiffness="0.1", rayleighMass="0.1") + M1.addObject('SparseLDLSolver',name='preconditioner') + M1.addObject('MechanicalObject', name='MO') + M1.addObject('UniformMass', totalMass="0.1") + M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19") + M1.addObject('BoxROI', name='ROI1', box='-9 -2 -1 -3 4 5', drawBoxes='true') + + M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large") + M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8') + M1.addObject('GenericConstraintCorrection', linearSolver='@preconditioner') + + # Add a visual model + visualModel = M1.addChild('visualModel') + visualModel.addObject('OglModel', name="visu", color="green") + visualModel.addObject('IdentityMapping', input="@..", output="@visu") + + actuator = rootNode.addChild('actuator') + actuator.addObject('MechanicalObject', name="actuatedState", template="Vec3d", position="@M1/MO.position") + + + + + From 24dbd86183ece9e5c754f00e8da7d57eca2d78be Mon Sep 17 00:00:00 2001 From: rmolazem Date: Wed, 15 May 2024 15:03:52 +0200 Subject: [PATCH 2/8] Apply the suggestion. --- examples/others/hexaBeam/hexaBeam_gravity.py | 24 ++++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/examples/others/hexaBeam/hexaBeam_gravity.py b/examples/others/hexaBeam/hexaBeam_gravity.py index 582ed692..a72efa05 100644 --- a/examples/others/hexaBeam/hexaBeam_gravity.py +++ b/examples/others/hexaBeam/hexaBeam_gravity.py @@ -32,28 +32,28 @@ def createScene(rootNode): rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showForceFields') rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False) rootNode.addObject('FreeMotionAnimationLoop') - rootNode.addObject('GenericConstraintSolver', tolerance="1e-12", maxIterations="10000") + rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000) - M1 = rootNode.addChild("M1") - M1.addObject('EulerImplicitSolver',rayleighStiffness="0.1", rayleighMass="0.1") - M1.addObject('SparseLDLSolver',name='preconditioner') + M1 = rootNode.addChild('M1') + M1.addObject('EulerImplicitSolver',rayleighStiffness=0.1, rayleighMass=0.1) + M1.addObject('SparseLDLSolver',name='solver') M1.addObject('MechanicalObject', name='MO') - M1.addObject('UniformMass', totalMass="0.1") - M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19") + M1.addObject('UniformMass', totalMass=0.1) + M1.addObject('RegularGridTopology', nx=4, ny=4, nz=20, xmin=-9, xmax=-6, ymin=0, ymax=3, zmin=0, zmax=19) M1.addObject('BoxROI', name='ROI1', box='-9 -2 -1 -3 4 5', drawBoxes='true') - M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large") - M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8') - M1.addObject('GenericConstraintCorrection', linearSolver='@preconditioner') + M1.addObject('HexahedronFEMForceField', name='FEM', youngModulus=4000, poissonRatio=0.3, method='large') + M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = 1e8) + M1.addObject('GenericConstraintCorrection', linearSolver='@solver') # Add a visual model visualModel = M1.addChild('visualModel') - visualModel.addObject('OglModel', name="visu", color="green") - visualModel.addObject('IdentityMapping', input="@..", output="@visu") + visualModel.addObject('OglModel', name='visu', color='green') + visualModel.addObject('IdentityMapping', input='@..', output='@visu') actuator = rootNode.addChild('actuator') - actuator.addObject('MechanicalObject', name="actuatedState", template="Vec3d", position="@M1/MO.position") + actuator.addObject('MechanicalObject', name='actuatedState', template='Vec3d', position='@M1/MO.position') From 2dcbc91b8bccd1e6aca2eb51084817a6bb6f3c7f Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 7 Jun 2024 16:04:54 +0200 Subject: [PATCH 3/8] Change the animation loop. --- examples/others/hexaBeam/hexaBeam_gravity.py | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/examples/others/hexaBeam/hexaBeam_gravity.py b/examples/others/hexaBeam/hexaBeam_gravity.py index a72efa05..6b4999dc 100644 --- a/examples/others/hexaBeam/hexaBeam_gravity.py +++ b/examples/others/hexaBeam/hexaBeam_gravity.py @@ -31,13 +31,11 @@ def createScene(rootNode): rootNode.findData('gravity').value=[0, -9810, 0] rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showForceFields') rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False) - rootNode.addObject('FreeMotionAnimationLoop') - rootNode.addObject('GenericConstraintSolver', tolerance=1e-12, maxIterations=10000) - + rootNode.addObject('DefaultAnimationLoop') M1 = rootNode.addChild('M1') M1.addObject('EulerImplicitSolver',rayleighStiffness=0.1, rayleighMass=0.1) - M1.addObject('SparseLDLSolver',name='solver') + M1.addObject('CGLinearSolver', iterations=20, name='solver', tolerance=1.0e-8, threshold=1.0e-8) M1.addObject('MechanicalObject', name='MO') M1.addObject('UniformMass', totalMass=0.1) M1.addObject('RegularGridTopology', nx=4, ny=4, nz=20, xmin=-9, xmax=-6, ymin=0, ymax=3, zmin=0, zmax=19) @@ -45,13 +43,13 @@ def createScene(rootNode): M1.addObject('HexahedronFEMForceField', name='FEM', youngModulus=4000, poissonRatio=0.3, method='large') M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = 1e8) - M1.addObject('GenericConstraintCorrection', linearSolver='@solver') # Add a visual model visualModel = M1.addChild('visualModel') visualModel.addObject('OglModel', name='visu', color='green') visualModel.addObject('IdentityMapping', input='@..', output='@visu') - + + # Add an actuator node compatible with doNothing animation function actuator = rootNode.addChild('actuator') actuator.addObject('MechanicalObject', name='actuatedState', template='Vec3d', position='@M1/MO.position') From b80abf80ef6fb9cebf6eeda696ce323756148d65 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 7 Jun 2024 16:28:21 +0200 Subject: [PATCH 4/8] Somthing was wrong by using the CG solver for this scene. --- examples/others/hexaBeam/hexaBeam_gravity.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/others/hexaBeam/hexaBeam_gravity.py b/examples/others/hexaBeam/hexaBeam_gravity.py index 6b4999dc..6ba2e72b 100644 --- a/examples/others/hexaBeam/hexaBeam_gravity.py +++ b/examples/others/hexaBeam/hexaBeam_gravity.py @@ -35,7 +35,7 @@ def createScene(rootNode): M1 = rootNode.addChild('M1') M1.addObject('EulerImplicitSolver',rayleighStiffness=0.1, rayleighMass=0.1) - M1.addObject('CGLinearSolver', iterations=20, name='solver', tolerance=1.0e-8, threshold=1.0e-8) + M1.addObject('SparseLDLSolver',name='solver') M1.addObject('MechanicalObject', name='MO') M1.addObject('UniformMass', totalMass=0.1) M1.addObject('RegularGridTopology', nx=4, ny=4, nz=20, xmin=-9, xmax=-6, ymin=0, ymax=3, zmin=0, zmax=19) From b3d73f6f7f3debbd1927a602354b8decf787ab93 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 7 Jun 2024 16:32:26 +0200 Subject: [PATCH 5/8] Rename files. --- .../others/hexaBeam/reduced/data/modes.txt | 961 ------------------ .../reduced/data/reducedFF_M1_0_RID.txt | 1 - .../reduced/data/reducedFF_M1_0_weight.txt | 17 - .../reduced/data/reducedFF_M1_1_RID.txt | 11 - .../reduced/data/reducedFF_M1_1_weight.txt | 172 ---- .../hexaBeam/reduced/debug/debug_scene.py | 36 - .../hexaBeam/reduced/debug/stateFile.state | 54 - .../reduced/debug/step2_stateFile.state | 54 - .../hexaBeam/reduced/reduced_hexaBeam.py | 138 --- 9 files changed, 1444 deletions(-) delete mode 100644 examples/others/hexaBeam/reduced/data/modes.txt delete mode 100644 examples/others/hexaBeam/reduced/data/reducedFF_M1_0_RID.txt delete mode 100644 examples/others/hexaBeam/reduced/data/reducedFF_M1_0_weight.txt delete mode 100644 examples/others/hexaBeam/reduced/data/reducedFF_M1_1_RID.txt delete mode 100644 examples/others/hexaBeam/reduced/data/reducedFF_M1_1_weight.txt delete mode 100644 examples/others/hexaBeam/reduced/debug/debug_scene.py delete mode 100644 examples/others/hexaBeam/reduced/debug/stateFile.state delete mode 100644 examples/others/hexaBeam/reduced/debug/step2_stateFile.state delete mode 100644 examples/others/hexaBeam/reduced/reduced_hexaBeam.py diff --git 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0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 diff --git a/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_RID.txt b/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_RID.txt deleted file mode 100644 index adbc7b3b..00000000 --- a/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_RID.txt +++ /dev/null @@ -1,11 +0,0 @@ -10 1 -2 -27 -56 -87 -92 -99 -125 -144 -165 -170 diff --git a/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_weight.txt b/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_weight.txt deleted file mode 100644 index 24214224..00000000 --- a/examples/others/hexaBeam/reduced/data/reducedFF_M1_1_weight.txt +++ /dev/null @@ -1,172 +0,0 @@ -171 1 - 0.00000 - 0.00000 - 8.97164 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 3.36219 - 0.00000 - 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0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 21.80131 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 5.52546 - 0.00000 - 0.00000 - 0.00000 - 0.00000 - 7.97420 diff --git a/examples/others/hexaBeam/reduced/debug/debug_scene.py b/examples/others/hexaBeam/reduced/debug/debug_scene.py deleted file mode 100644 index 1948a435..00000000 --- a/examples/others/hexaBeam/reduced/debug/debug_scene.py +++ /dev/null @@ -1,36 +0,0 @@ -# -*- coding: utf-8 -*- -import os -import imp -import platform -from sys import argv - -# STLIB IMPORT -try: - from stlib3.scene.wrapper import Wrapper -except: - raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ - +"Please install it : https://github.com/SofaDefrost/STLIB") - -# MOR IMPORT -from mor.utility import sceneCreation as u - -slash = '/' -if "Windows" in platform.platform(): - slash = "\\" - -# Our Original Scene IMPORT -originalScene = os.path.dirname(os.path.abspath(__file__)) + "/../../hexaBeam.pyscn" -originalScene = os.path.normpath(originalScene) -originalScene = imp.load_source(originalScene.split(slash)[-1], originalScene) - -def createScene(rootNode): - - if (len(argv) > 1): - stateFileName = str(argv[1]) - else: - stateFileName="stateFile.state" - originalScene.createScene(rootNode) - - pathToNode = 'M1' - - u.createDebug(rootNode,pathToNode,stateFileName) \ No newline at end of file diff --git a/examples/others/hexaBeam/reduced/debug/stateFile.state b/examples/others/hexaBeam/reduced/debug/stateFile.state deleted file mode 100644 index 84557e35..00000000 --- a/examples/others/hexaBeam/reduced/debug/stateFile.state +++ /dev/null @@ -1,54 +0,0 @@ -T= 6 - X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 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1.76021 16.6419 -7.83217 2.76573 16.7686 -6.82749 2.76499 16.6592 -5.82155 2.75834 16.5533 -4.81572 2.74538 16.4495 -7.66712 0.0316934 18.327 -6.67437 0.032733 18.2209 -5.68499 0.0246778 18.1151 -4.69223 0.00720939 18.0082 -7.68644 1.01066 18.1284 -6.68973 1.01609 18.0215 -5.69419 1.00824 17.9153 -4.69785 0.986773 17.8088 -7.70453 1.99177 17.9351 -6.70453 1.9971 17.8269 -5.70424 1.98956 17.7205 -4.70429 1.96889 17.6149 -7.72554 2.97309 17.7355 -6.72186 2.97389 17.6251 -5.71464 2.96662 17.5183 -4.71012 2.95104 17.4146 -7.5599 0.237975 19.3096 -6.56707 0.241209 19.2015 -5.57891 0.232424 19.0956 -4.58562 0.211819 18.9906 -7.58058 1.21686 19.1091 -6.58294 1.23041 19.001 -5.58656 1.22178 18.8947 -4.58972 1.19123 18.7892 -7.59929 2.19775 18.9116 -6.59844 2.21218 18.804 -5.59626 2.20388 18.6973 -4.59618 2.17325 18.5908 -7.62069 3.17907 18.7097 -6.61659 3.18365 18.5999 -5.60673 3.17561 18.4927 -4.60192 3.15532 18.3882 -T= 60 - X= -9 -2.05745e-11 -5.54019e-11 -8 -5.53364e-11 -1.39937e-10 -7 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16.2298 -9.91389 7.16446 16.4672 -8.94048 7.18143 16.7018 -11.7586 7.88654 15.4015 -10.7803 7.92928 15.6369 -9.8005 7.965 15.8763 -8.82411 7.99462 16.1204 -12.2683 6.03388 17.9374 -11.3003 6.08238 18.1704 -10.3373 6.11998 18.4066 -9.37104 6.1473 18.6485 -12.1763 6.84835 17.3517 -11.2071 6.92009 17.5978 -10.2327 6.95769 17.8364 -9.25619 6.96141 18.068 -12.079 7.66749 16.7677 -11.1058 7.74129 17.0137 -10.1253 7.77853 17.2538 -9.14549 7.77907 17.4874 -11.979 8.48278 16.1795 -10.9974 8.53373 16.4109 -10.0109 8.57063 16.6522 -9.03288 8.59328 16.9017 -T= 114 - X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 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13.8526 -8.98689 -0.473245 15.1276 -7.99564 -0.466729 15.1279 -7.00436 -0.466729 15.1279 -6.01311 -0.473245 15.1276 -8.99589 0.516931 15.0231 -7.99863 0.523111 15.023 -7.00137 0.523111 15.023 -6.00411 0.516931 15.0231 -9.00407 1.51241 14.9233 -8.00137 1.51852 14.9222 -6.99863 1.51852 14.9222 -5.99593 1.51241 14.9233 -9.01305 2.51241 14.8191 -8.00438 2.51887 14.8177 -6.99562 2.51887 14.8177 -5.98695 2.51241 14.8191 -8.98953 -0.351167 16.1463 -7.99649 -0.34586 16.1467 -7.00351 -0.34586 16.1467 -6.01047 -0.351167 16.1463 -8.99669 0.638541 16.0252 -7.99889 0.643627 16.0252 -7.00111 0.643627 16.0252 -6.00331 0.638541 16.0252 -9.00313 1.63262 15.9099 -8.00105 1.63763 15.9088 -6.99895 1.63763 15.9088 -5.99687 1.63262 15.9099 -9.0103 2.62988 15.7891 -8.00347 2.63507 15.7876 -6.99653 2.63507 15.7876 -5.9897 2.62988 15.7891 -8.99212 -0.213984 17.1563 -7.99717 -0.209202 17.1571 -7.00283 -0.209202 17.1571 -6.00788 -0.213984 17.1563 -8.99741 0.776217 17.0237 -7.99911 0.780208 17.0237 -7.00089 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3.18275 18.5977 -5.60905 3.17529 18.4898 -4.60455 3.1557 18.3847 -T= 60 - X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9.0135 -0.0506189 0.956062 -8.00132 -0.0680198 0.934964 -6.98679 -0.0752184 0.914547 -5.95908 -0.074237 0.890694 -8.98832 0.953074 1.01151 -7.99081 0.943742 0.990802 -6.98608 0.942469 0.972984 -5.97227 0.949095 0.950736 -8.97034 1.94374 1.04914 -7.98463 1.93909 1.02587 -6.98993 1.94319 1.00851 -5.9885 1.95464 0.989001 -8.95539 2.91478 1.10791 -7.98405 2.91626 1.08351 -6.9989 2.92667 1.06428 -6.01243 2.94581 1.04553 -8.97383 -0.145813 1.93078 -7.96868 -0.160645 1.88451 -6.95558 -0.167634 1.8421 -5.93795 -0.167072 1.80165 -8.95299 0.848819 2.02219 -7.95582 0.840538 1.97785 -6.95188 0.839886 1.93709 -5.94209 0.846411 1.89666 -8.93706 1.83568 2.09693 -7.9488 1.83368 2.05499 -6.95489 1.83976 2.01461 -5.95446 1.85239 1.97228 -8.92865 2.81225 2.18823 -7.94799 2.81607 2.14792 -6.96307 2.82792 2.10788 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import * -except: - raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ - +"Please install it : https://github.com/SofaDefrost/STLIB") - -path = os.path.dirname(os.path.abspath(__file__)) - -def TRSinOrigin(positions,modelPosition,translation,rotation,scale=[1.0,1.0,1.0]): - posOrigin = subtract(positions , modelPosition) - if any(isinstance(el, list) for el in positions): - posOriginTRS = transformPositions(posOrigin,translation,eulerRotation=rotation,scale=scale) - else: - posOriginTRS = transformPosition(posOrigin,TRS_to_matrix(translation,eulerRotation=rotation,scale=scale)) - return add(posOriginTRS,modelPosition).tolist() - -def newBox(positions,modelPosition,translation,rotation,offset,scale=[1.0,1.0,1.0]): - pos = TRSinOrigin(positions,modelPosition,translation,rotation,scale) - offset =transformPositions([offset],eulerRotation=rotation,scale=scale)[0] - return add(pos,offset).tolist() - -def Reduced_test( - attachedTo=None, - name="Reduced_test", - rotation=[0.0, 0.0, 0.0], - translation=[0.0, 0.0, 0.0], - scale=[1.0, 1.0, 1.0], - surfaceMeshFileName=False, - surfaceColor=[1.0, 1.0, 1.0], - nbrOfModes=8, - hyperReduction=True): - """ - Object with an elastic deformation law. - - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | argument | type | definition | - +=====================+===========+=================================================================================================+ - | attachedTo | Sofa.Node | Where the node is created; | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | name | str | name of the Sofa.Node it will | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | rotation | vec3f | Apply a 3D rotation to the object in Euler angles. | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | translation | vec3f | Apply a 3D translation to the object. | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | scale | vec3f | Apply a 3D scale to the object. | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | surfaceMeshFileName | str | Filepath to a surface mesh (STL, OBJ). If missing there is no visual properties to this object. | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | surfaceColor | vec3f | The default color used for the rendering of the object. | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | nbrOfModes | int | Number of modes we want our reduced model to work with | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - | hyperReduction | Bool | Controlled if we have the simple reduction or the hyper-reduction | - +---------------------+-----------+-------------------------------------------------------------------------------------------------+ - - """ - - modelRoot = attachedTo.addChild(name) - - M1_MOR = modelRoot.addChild('M1_MOR') - M1_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = '0.1', rayleighMass = '0.1') - M1_MOR.addObject('SparseLDLSolver' , name = 'preconditioner') - M1_MOR.addObject('GenericConstraintCorrection') - M1_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) - - - M1 = M1_MOR.addChild('M1') - M1.addObject('MechanicalObject') - M1.addObject('UniformMass' , totalMass = '0.1') - M1.addObject('RegularGrid' , nx = '4', ny = '4', nz = '20', xmin = '-9', xmax = '-6', ymin = '0', ymax = '3', zmin = '0', zmax = '19') - M1.addObject('HyperReducedRestShapeSpringsForceField' , points = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt') - M1.addObject('HyperReducedHexahedronFEMForceField' , name = 'reducedFF_M1_1', youngModulus = '4000', poissonRatio = '0.3', method = 'large', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_1_RID.txt', weightsPath = path + r'/data/reducedFF_M1_1_weight.txt') - M1.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject') - - - cableNodeTip = M1.addChild('cableNodeTip') - cableNodeTip.addObject('MechanicalObject' , name = 'actuatedTip', template = 'Vec3d', position = '-7.5 1.5 18.5') - cableNodeTip.addObject('CableConstraint' , name = 'tipCable', indices = '0', pullPoint = '-7.5 10 18.5', valueType = 'displacement') - cableNodeTip.addObject('BarycentricMapping' , mapForces = 'false', mapMasses = 'false') - - - cableNodeSide = M1.addChild('cableNodeSide') - cableNodeSide.addObject('MechanicalObject' , name = 'actuatedSide', template = 'Vec3d', position = '-7.5 1.5 18.5') - cableNodeSide.addObject('CableConstraint' , name = 'sideCable', indices = '0', pullPoint = '1 10 18.5', valueType = 'displacement') - cableNodeSide.addObject('BarycentricMapping' , mapForces = 'false', mapMasses = 'false') - - return M1 - - -# STLIB IMPORT -from stlib3.scene import MainHeader -def createScene(rootNode): - surfaceMeshFileName = False - - MainHeader(rootNode,plugins=["SoftRobots","ModelOrderReduction"], - dt=0.02, - gravity=[0.0, -9810.0, 0.0]) - rootNode.VisualStyle.displayFlags="showForceFields" - - Reduced_test(rootNode, - name="Reduced_test", - surfaceMeshFileName=surfaceMeshFileName) - - # translate = 300 - # rotationBlue = 60.0 - # rotationWhite = 80 - # rotationRed = 70 - - # for i in range(3): - - # Reduced_test(rootNode, - # name="Reduced_test_blue_"+str(i), - # rotation=[rotationBlue*i, 0.0, 0.0], - # translation=[i*translate, 0.0, 0.0], - # surfaceColor=[0.0, 0.0, 1, 0.5], - # surfaceMeshFileName=surfaceMeshFileName) - # for i in range(3): - - # Reduced_test(rootNode, - # name="Reduced_test_white_"+str(i), - # rotation=[0.0, rotationWhite*i, 0.0], - # translation=[i*translate, translate, -translate], - # surfaceColor=[0.5, 0.5, 0.5, 0.5], - # surfaceMeshFileName=surfaceMeshFileName) - - # for i in range(3): - - # Reduced_test(rootNode, - # name="Reduced_test_red_"+str(i), - # rotation=[0.0, 0.0, i*rotationRed], - # translation=[i*translate, 2*translate, -2*translate], - # surfaceColor=[1, 0.0, 0.0, 0.5], - # surfaceMeshFileName=surfaceMeshFileName) From 6ee9961e9cb6be49e2f73db339e2e7af8cd3683c Mon Sep 17 00:00:00 2001 From: rmolazem Date: Fri, 7 Jun 2024 16:35:53 +0200 Subject: [PATCH 6/8] Add results. --- .../hexaBeam/reduced/hexaBeam/data/modes.txt | 961 ++++++++++++++++++ .../hexaBeam/data/reducedFF_M1_0_RID.txt | 1 + .../hexaBeam/data/reducedFF_M1_0_weight.txt | 17 + .../hexaBeam/data/reducedFF_M1_1_RID.txt | 11 + .../hexaBeam/data/reducedFF_M1_1_weight.txt | 172 ++++ .../reduced/hexaBeam/debug/debug_scene.py | 36 + .../reduced/hexaBeam/debug/stateFile.state | 54 + .../hexaBeam/debug/step2_stateFile.state | 54 + .../reduced/hexaBeam/reduced_hexaBeam.py | 138 +++ .../hexaBeam_gravity/data/listActiveNodes.txt | 24 + .../reduced/hexaBeam_gravity/data/modes.txt | 961 ++++++++++++++++++ .../data/reducedFF_M1_0_RID.txt | 4 + .../data/reducedFF_M1_0_listActiveNodes.txt | 24 + .../data/reducedFF_M1_0_weight.txt | 172 ++++ .../data/reducedFF_M1_1_RID.txt | 1 + .../data/reducedFF_M1_1_listActiveNodes.txt | 0 .../data/reducedFF_M1_1_weight.txt | 97 ++ .../reduced/hexaBeam_gravity/debug/Sdata.txt | 12 + .../hexaBeam_gravity/debug/debug_scene.py | 39 + .../debug/reducedFF_M1_0_Gie.txt | 20 + .../debug/reducedFF_M1_0_hexahedra_elmts.txt | 855 ++++++++++++++++ .../debug/reducedFF_M1_1_Gie.txt | 20 + .../debug/reducedFF_M1_1_points_elmts.txt | 192 ++++ .../hexaBeam_gravity/debug/stateFile.state | 30 + .../debug/step2_stateFile.state | 30 + .../reduced/hexaBeam_gravity/reduced_test.py | 135 +++ 26 files changed, 4060 insertions(+) create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/data/modes.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_RID.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_weight.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_RID.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_weight.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/debug/debug_scene.py create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/debug/stateFile.state create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/debug/step2_stateFile.state create mode 100644 examples/others/hexaBeam/reduced/hexaBeam/reduced_hexaBeam.py create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/modes.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_RID.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_listActiveNodes.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_weight.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_RID.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_listActiveNodes.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_weight.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/Sdata.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/debug_scene.py create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_hexahedra_elmts.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_1_Gie.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_1_points_elmts.txt create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/stateFile.state create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/step2_stateFile.state create mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/reduced_test.py diff --git a/examples/others/hexaBeam/reduced/hexaBeam/data/modes.txt b/examples/others/hexaBeam/reduced/hexaBeam/data/modes.txt new file mode 100644 index 00000000..2ca937d1 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/data/modes.txt @@ -0,0 +1,961 @@ +960 8 + 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 0.00000 + 0.00000 0.00000 -0.00000 0.00000 -0.00000 0.00000 -0.00000 0.00000 + 0.00000 0.00000 -0.00000 0.00000 -0.00000 0.00000 0.00000 0.00000 + 0.00000 0.00000 -0.00000 0.00000 0.00000 -0.00000 -0.00000 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/dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_RID.txt @@ -0,0 +1 @@ +0 1 diff --git a/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_weight.txt b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_weight.txt new file mode 100644 index 00000000..06748f84 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_0_weight.txt @@ -0,0 +1,17 @@ +16 1 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 diff --git a/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_RID.txt b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_RID.txt new file mode 100644 index 00000000..adbc7b3b --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_RID.txt @@ -0,0 +1,11 @@ +10 1 +2 +27 +56 +87 +92 +99 +125 +144 +165 +170 diff --git a/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_weight.txt b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_weight.txt new file mode 100644 index 00000000..24214224 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/data/reducedFF_M1_1_weight.txt @@ -0,0 +1,172 @@ +171 1 + 0.00000 + 0.00000 + 8.97164 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 3.36219 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 5.39254 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 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0.00000 + 0.00000 + 0.00000 + 7.97420 diff --git a/examples/others/hexaBeam/reduced/hexaBeam/debug/debug_scene.py b/examples/others/hexaBeam/reduced/hexaBeam/debug/debug_scene.py new file mode 100644 index 00000000..1948a435 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/debug/debug_scene.py @@ -0,0 +1,36 @@ +# -*- coding: utf-8 -*- +import os +import imp +import platform +from sys import argv + +# STLIB IMPORT +try: + from stlib3.scene.wrapper import Wrapper +except: + raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ + +"Please install it : https://github.com/SofaDefrost/STLIB") + +# MOR IMPORT +from mor.utility import sceneCreation as u + +slash = '/' +if "Windows" in platform.platform(): + slash = "\\" + +# Our Original Scene IMPORT +originalScene = os.path.dirname(os.path.abspath(__file__)) + "/../../hexaBeam.pyscn" +originalScene = os.path.normpath(originalScene) +originalScene = imp.load_source(originalScene.split(slash)[-1], originalScene) + +def createScene(rootNode): + + if (len(argv) > 1): + stateFileName = str(argv[1]) + else: + stateFileName="stateFile.state" + originalScene.createScene(rootNode) + + pathToNode = 'M1' + + u.createDebug(rootNode,pathToNode,stateFileName) \ No newline at end of file diff --git a/examples/others/hexaBeam/reduced/hexaBeam/debug/stateFile.state b/examples/others/hexaBeam/reduced/hexaBeam/debug/stateFile.state new file mode 100644 index 00000000..84557e35 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/debug/stateFile.state @@ -0,0 +1,54 @@ +T= 6 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 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1.41687 18.1234 -3.27712 1.40824 17.7526 -2.3546 1.3886 17.385 -1.42825 1.35647 17.0152 -4.3099 2.3589 17.8136 -3.37885 2.35653 17.4429 -2.45031 2.33759 17.073 -1.52162 2.30064 16.7 -4.41609 3.30327 17.5089 -3.48169 3.3007 17.1357 -2.5479 3.28281 16.764 -1.61488 3.24859 16.3904 -4.52988 4.24709 17.1972 -3.59313 4.23812 16.8184 -2.65079 4.22118 16.444 -1.71021 4.19523 16.0731 -3.8429 1.7543 19.0073 -2.91728 1.74596 18.6336 -1.99508 1.7249 18.2652 -1.06678 1.6906 17.897 -3.95339 2.69656 18.6953 -3.0192 2.70309 18.3235 -2.08716 2.6826 17.9519 -1.15758 2.63479 17.578 -4.06168 3.64117 18.3856 -3.12394 3.65053 18.0127 -2.18553 3.63117 17.6388 -1.25246 3.58339 17.263 -4.17536 4.58552 18.0713 -3.23798 4.58198 17.691 -2.29176 4.56343 17.3144 -1.35015 4.5303 16.9433 +T= 78 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9 0 6 -8 0 6 -7 0 6 -6 0 6 -9 1 6 -8 1 6 -7 1 6 -6 1 6 -9 2 6 -8 2 6 -7 2 6 -6 2 6 -9 3 6 -8 3 6 -7 3 6 -6 3 6 -9 0 7 -8 0 7 -7 0 7 -6 0 7 -9 1 7 -8 1 7 -7 1 7 -6 1 7 -9 2 7 -8 2 7 -7 2 7 -6 2 7 -9 3 7 -8 3 7 -7 3 7 -6 3 7 -9 0 8 -8 0 8 -7 0 8 -6 0 8 -9 1 8 -8 1 8 -7 1 8 -6 1 8 -9 2 8 -8 2 8 -7 2 8 -6 2 8 -9 3 8 -8 3 8 -7 3 8 -6 3 8 -9 0 9 -8 0 9 -7 0 9 -6 0 9 -9 1 9 -8 1 9 -7 1 9 -6 1 9 -9 2 9 -8 2 9 -7 2 9 -6 2 9 -9 3 9 -8 3 9 -7 3 9 -6 3 9 -9 0 10 -8 0 10 -7 0 10 -6 0 10 -9 1 10 -8 1 10 -7 1 10 -6 1 10 -9 2 10 -8 2 10 -7 2 10 -6 2 10 -9 3 10 -8 3 10 -7 3 10 -6 3 10 -9 0 11 -8 0 11 -7 0 11 -6 0 11 -9 1 11 -8 1 11 -7 1 11 -6 1 11 -9 2 11 -8 2 11 -7 2 11 -6 2 11 -9 3 11 -8 3 11 -7 3 11 -6 3 11 -9 0 12 -8 0 12 -7 0 12 -6 0 12 -9 1 12 -8 1 12 -7 1 12 -6 1 12 -9 2 12 -8 2 12 -7 2 12 -6 2 12 -9 3 12 -8 3 12 -7 3 12 -6 3 12 -9 0 13 -8 0 13 -7 0 13 -6 0 13 -9 1 13 -8 1 13 -7 1 13 -6 1 13 -9 2 13 -8 2 13 -7 2 13 -6 2 13 -9 3 13 -8 3 13 -7 3 13 -6 3 13 -9 0 14 -8 0 14 -7 0 14 -6 0 14 -9 1 14 -8 1 14 -7 1 14 -6 1 14 -9 2 14 -8 2 14 -7 2 14 -6 2 14 -9 3 14 -8 3 14 -7 3 14 -6 3 14 -9 0 15 -8 0 15 -7 0 15 -6 0 15 -9 1 15 -8 1 15 -7 1 15 -6 1 15 -9 2 15 -8 2 15 -7 2 15 -6 2 15 -9 3 15 -8 3 15 -7 3 15 -6 3 15 -9 0 16 -8 0 16 -7 0 16 -6 0 16 -9 1 16 -8 1 16 -7 1 16 -6 1 16 -9 2 16 -8 2 16 -7 2 16 -6 2 16 -9 3 16 -8 3 16 -7 3 16 -6 3 16 -9 0 17 -8 0 17 -7 0 17 -6 0 17 -9 1 17 -8 1 17 -7 1 17 -6 1 17 -9 2 17 -8 2 17 -7 2 17 -6 2 17 -9 3 17 -8 3 17 -7 3 17 -6 3 17 -9 0 18 -8 0 18 -7 0 18 -6 0 18 -9 1 18 -8 1 18 -7 1 18 -6 1 18 -9 2 18 -8 2 18 -7 2 18 -6 2 18 -9 3 18 -8 3 18 -7 3 18 -6 3 18 -9 0 19 -8 0 19 -7 0 19 -6 0 19 -9 1 19 -8 1 19 -7 1 19 -6 1 19 -9 2 19 -8 2 19 -7 2 19 -6 2 19 -9 3 19 -8 3 19 -7 3 19 -6 3 19 +T= 84 + X= -9 -2.15542e-11 -6.02652e-11 -8 -4.42494e-11 -1.11503e-10 -7 -4.42494e-11 -1.11503e-10 -6 -2.15542e-11 -6.02652e-11 -9 1 -3.75571e-11 -8 1 -6.52832e-11 -7 1 -6.52832e-11 -6 1 -3.75571e-11 -9 2 3.75994e-11 -8 2 6.45604e-11 -7 2 6.45604e-11 -6 2 3.75994e-11 -9 3 6.07263e-11 -8 3 1.1204e-10 -7 3 1.1204e-10 -6 3 6.07263e-11 -9.01937 -0.0429017 0.947138 -8.00517 -0.0493056 0.948414 -6.99483 -0.0493056 0.948414 -5.98063 -0.0429017 0.947138 -9.00607 0.967419 0.986553 -8.00182 0.961715 0.987333 -6.99818 0.961715 0.987333 -5.99393 0.967419 0.986553 -8.99406 1.96676 1.01331 -7.99824 1.96105 1.01212 -7.00176 1.96105 1.01212 -6.00594 1.96676 1.01331 -8.98055 2.95448 1.05305 -7.99485 2.94813 1.05129 -7.00515 2.94813 1.05129 -6.01945 2.95448 1.05305 -9.01421 -0.10765 1.90784 -8.00504 -0.113346 1.90627 -6.99496 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14.3222 -8.39219 6.81996 14.5662 -11.8239 4.83227 16.3433 -10.8617 4.8783 16.5774 -9.9016 4.91422 16.8116 -8.9401 4.94141 17.0487 -11.7301 5.64862 15.7708 -10.7628 5.69229 16.0056 -9.79776 5.7279 16.241 -8.83163 5.75675 16.4795 -11.6378 6.47238 15.2046 -10.665 6.51369 15.4396 -9.69478 6.54878 15.6761 -8.72389 6.579 15.9166 -11.5443 7.29369 14.6273 -10.5651 7.3344 14.8624 -9.58723 7.36886 15.1004 -8.61052 7.3986 15.3432 -12.0464 5.4398 17.1443 -11.0815 5.49013 17.3778 -10.1215 5.52682 17.613 -9.15756 5.55115 17.853 -11.9491 6.25435 16.5641 -10.9834 6.31394 16.8053 -10.019 6.35036 17.0414 -9.04948 6.36485 17.2754 -11.8533 7.07235 15.9875 -10.8834 7.12844 16.2298 -9.91389 7.16446 16.4672 -8.94048 7.18143 16.7018 -11.7586 7.88654 15.4015 -10.7803 7.92928 15.6369 -9.8005 7.965 15.8763 -8.82411 7.99462 16.1204 -12.2683 6.03388 17.9374 -11.3003 6.08238 18.1704 -10.3373 6.11998 18.4066 -9.37104 6.1473 18.6485 -12.1763 6.84835 17.3517 -11.2071 6.92009 17.5978 -10.2327 6.95769 17.8364 -9.25619 6.96141 18.068 -12.079 7.66749 16.7677 -11.1058 7.74129 17.0137 -10.1253 7.77853 17.2538 -9.14549 7.77907 17.4874 -11.979 8.48278 16.1795 -10.9974 8.53373 16.4109 -10.0109 8.57063 16.6522 -9.03288 8.59328 16.9017 +T= 114 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9 0 6 -8 0 6 -7 0 6 -6 0 6 -9 1 6 -8 1 6 -7 1 6 -6 1 6 -9 2 6 -8 2 6 -7 2 6 -6 2 6 -9 3 6 -8 3 6 -7 3 6 -6 3 6 -9 0 7 -8 0 7 -7 0 7 -6 0 7 -9 1 7 -8 1 7 -7 1 7 -6 1 7 -9 2 7 -8 2 7 -7 2 7 -6 2 7 -9 3 7 -8 3 7 -7 3 7 -6 3 7 -9 0 8 -8 0 8 -7 0 8 -6 0 8 -9 1 8 -8 1 8 -7 1 8 -6 1 8 -9 2 8 -8 2 8 -7 2 8 -6 2 8 -9 3 8 -8 3 8 -7 3 8 -6 3 8 -9 0 9 -8 0 9 -7 0 9 -6 0 9 -9 1 9 -8 1 9 -7 1 9 -6 1 9 -9 2 9 -8 2 9 -7 2 9 -6 2 9 -9 3 9 -8 3 9 -7 3 9 -6 3 9 -9 0 10 -8 0 10 -7 0 10 -6 0 10 -9 1 10 -8 1 10 -7 1 10 -6 1 10 -9 2 10 -8 2 10 -7 2 10 -6 2 10 -9 3 10 -8 3 10 -7 3 10 -6 3 10 -9 0 11 -8 0 11 -7 0 11 -6 0 11 -9 1 11 -8 1 11 -7 1 11 -6 1 11 -9 2 11 -8 2 11 -7 2 11 -6 2 11 -9 3 11 -8 3 11 -7 3 11 -6 3 11 -9 0 12 -8 0 12 -7 0 12 -6 0 12 -9 1 12 -8 1 12 -7 1 12 -6 1 12 -9 2 12 -8 2 12 -7 2 12 -6 2 12 -9 3 12 -8 3 12 -7 3 12 -6 3 12 -9 0 13 -8 0 13 -7 0 13 -6 0 13 -9 1 13 -8 1 13 -7 1 13 -6 1 13 -9 2 13 -8 2 13 -7 2 13 -6 2 13 -9 3 13 -8 3 13 -7 3 13 -6 3 13 -9 0 14 -8 0 14 -7 0 14 -6 0 14 -9 1 14 -8 1 14 -7 1 14 -6 1 14 -9 2 14 -8 2 14 -7 2 14 -6 2 14 -9 3 14 -8 3 14 -7 3 14 -6 3 14 -9 0 15 -8 0 15 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1.80389 3.03123 -7.99896 1.80057 3.03224 -7.00104 1.80057 3.03224 -6.00302 1.80389 3.03123 -8.99149 2.79665 3.11229 -7.99722 2.7935 3.1141 -7.00278 2.7935 3.1141 -6.00851 2.79665 3.11229 -9.00243 -0.293861 3.86415 -8.00079 -0.294177 3.86209 -6.99921 -0.294177 3.86209 -5.99757 -0.293861 3.86415 -9.0009 0.704487 3.95316 -8.00029 0.70378 3.95189 -6.99971 0.70378 3.95189 -5.9991 0.704487 3.95316 -8.99883 1.70182 4.03233 -7.9996 1.70094 4.03342 -7.0004 1.70094 4.03342 -6.00117 1.70182 4.03233 -8.99728 2.69642 4.12136 -7.99911 2.69579 4.12323 -7.00089 2.69579 4.12323 -6.00272 2.69642 4.12136 -8.99748 -0.395599 4.8591 -7.99913 -0.393726 4.8575 -7.00087 -0.393726 4.8575 -6.00252 -0.395599 4.8591 -8.99928 0.600608 4.94849 -7.99974 0.602086 4.94758 -7.00026 0.602086 4.94758 -6.00072 0.600608 4.94849 -9.00047 1.59781 5.02934 -8.00015 1.59914 5.03046 -6.99985 1.59914 5.03046 -5.99953 1.59781 5.02934 -9.00226 2.59453 5.1187 -8.00078 2.59613 5.1205 -6.99922 2.59613 5.1205 -5.99774 2.59453 5.1187 -8.99327 -0.493238 5.86431 -7.99773 -0.489519 5.86313 -7.00227 -0.489519 5.86313 -6.00673 -0.493238 5.86431 -8.99793 0.501589 5.94746 -7.99929 0.504928 5.94685 -7.00071 0.504928 5.94685 -6.00207 0.501589 5.94746 -9.00189 1.49907 6.02334 -8.00064 1.5023 6.02444 -6.99936 1.5023 6.02444 -5.99811 1.49907 6.02334 -9.00654 2.49808 6.10639 -8.00221 2.5016 6.10806 -6.99779 2.5016 6.10806 -5.99346 2.49808 6.10639 -8.98978 -0.580451 6.87874 -7.99658 -0.575205 6.87788 -7.00342 -0.575205 6.87788 -6.01022 -0.580451 6.87874 -8.99682 0.413615 6.95001 -7.99893 0.418501 6.94962 -7.00107 0.418501 6.94962 -6.00318 0.413615 6.95001 -9.0031 1.41167 7.01529 -8.00105 1.41648 7.01631 -6.99895 1.41648 7.01631 -5.9969 1.41167 7.01529 -9.01012 2.41296 7.08641 -8.0034 2.41811 7.0879 -6.9966 2.41811 7.0879 -5.98988 2.41296 7.08641 -8.98699 -0.651818 7.9011 -7.99566 -0.645353 7.9005 -7.00434 -0.645353 7.9005 -6.01301 -0.651818 7.9011 -8.99594 0.341896 7.95585 -7.99864 0.348021 7.95561 -7.00136 0.348021 7.95561 -6.00406 0.341896 7.95585 -9.00407 1.34063 8.00592 -8.00138 1.34672 8.00677 -6.99862 1.34672 8.00677 -5.99593 1.34063 8.00592 -9.013 2.344 8.06052 -8.00436 2.35045 8.06174 -6.99564 2.35045 8.06174 -5.987 2.344 8.06052 -8.9849 -0.702905 8.92985 -7.99498 -0.695527 8.92943 -7.00502 -0.695527 8.92943 -6.0151 -0.702905 8.92985 -8.99529 0.290641 8.96446 -7.99842 0.297696 8.96429 -7.00158 0.297696 8.96429 -6.00471 0.290641 8.96446 -9.00481 1.28996 8.99571 -8.00163 1.29701 8.99633 -6.99837 1.29701 8.99633 -5.99519 1.28996 8.99571 -9.01516 2.29498 9.03022 -8.00509 2.30243 9.0311 -6.99491 2.30243 9.0311 -5.98484 2.29498 9.03022 -8.98351 -0.730332 9.96321 -7.99452 -0.722344 9.96291 -7.00548 -0.722344 9.96291 -6.01649 -0.730332 9.96321 -8.99485 0.263033 9.97507 -7.99828 0.270711 9.97492 -7.00172 0.270711 9.97492 -6.00515 0.263033 9.97507 -9.0053 1.26268 9.98493 -8.0018 1.27038 9.98525 -6.9982 1.27038 9.98525 -5.9947 1.26268 9.98493 -9.0166 2.26873 9.99678 -8.00557 2.27684 9.99727 -6.99443 2.27684 9.99727 -5.9834 2.26873 9.99678 -8.9828 -0.731827 10.9992 -7.99428 -0.723531 10.999 -7.00572 -0.723531 10.999 -6.0172 -0.731827 10.9992 -8.99463 0.261206 10.9867 -7.99821 0.269198 10.9866 -7.00179 0.269198 10.9866 -6.00537 0.261206 10.9867 -9.00555 1.26079 10.9737 -8.00189 1.26881 10.9737 -6.99811 1.26881 10.9737 -5.99445 1.26079 10.9737 -9.01733 2.26713 10.9613 -8.00582 2.27557 10.9614 -6.99418 2.27557 10.9614 -5.98267 2.26713 10.9613 -8.98279 -0.70626 12.0357 -7.99428 -0.697956 12.0356 -7.00572 -0.697956 12.0356 -6.01721 -0.70626 12.0357 -8.99462 0.286227 11.9984 -7.99821 0.294224 11.9982 -7.00179 0.294224 11.9982 -6.00538 0.286227 11.9984 -9.00555 1.28531 11.9619 -8.00189 1.29332 11.9615 -6.99811 1.29332 11.9615 -5.99445 1.28531 11.9619 -9.01734 2.29112 11.9248 -8.00582 2.29956 11.9244 -6.99418 2.29956 11.9244 -5.98266 2.29112 11.9248 -8.98346 -0.65366 13.0706 -7.9945 -0.645649 13.0706 -7.0055 -0.645649 13.0706 -6.01654 -0.65366 13.0706 -8.99482 0.338087 13.009 -7.99827 0.345779 13.0088 -7.00173 0.345779 13.0088 -6.00518 0.338087 13.009 -9.0053 1.33624 12.9495 -8.0018 1.34393 12.9489 -6.9982 1.34393 12.9489 -5.9947 1.33624 12.9495 -9.01662 2.34074 12.8882 -8.00558 2.34884 12.8874 -6.99442 2.34884 12.8874 -5.98338 2.34074 12.8882 -8.98483 -0.575213 14.1019 -7.99495 -0.567801 14.102 -7.00505 -0.567801 14.102 -6.01517 -0.575213 14.1019 -8.99525 0.415704 14.0175 -7.99841 0.422786 14.0174 -7.00159 0.422786 14.0174 -6.00475 0.415704 14.0175 -9.0048 1.4126 13.9366 -8.00163 1.41965 13.9357 -6.99837 1.41965 13.9357 -5.9952 1.4126 13.9366 -9.01519 2.41511 13.8526 -8.0051 2.42254 13.8515 -6.9949 2.42254 13.8515 -5.98481 2.41511 13.8526 -8.98689 -0.473245 15.1276 -7.99564 -0.466729 15.1279 -7.00436 -0.466729 15.1279 -6.01311 -0.473245 15.1276 -8.99589 0.516931 15.0231 -7.99863 0.523111 15.023 -7.00137 0.523111 15.023 -6.00411 0.516931 15.0231 -9.00407 1.51241 14.9233 -8.00137 1.51852 14.9222 -6.99863 1.51852 14.9222 -5.99593 1.51241 14.9233 -9.01305 2.51241 14.8191 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18.1569 -8.99761 0.921003 18.0189 -7.99901 0.93049 18.0189 -7.00099 0.93049 18.0189 -6.00239 0.921003 18.0189 -9.0018 1.91315 17.8851 -8.00072 1.92248 17.8842 -6.99928 1.92248 17.8842 -5.9982 1.91315 17.8851 -9.00715 2.90572 17.747 -8.00315 2.91182 17.7449 -6.99685 2.91182 17.7449 -5.99285 2.90572 17.747 -8.99213 0.0713686 19.1513 -7.99617 0.0800721 19.1507 -7.00383 0.0800721 19.1507 -6.00787 0.0713686 19.1513 -8.998 1.06196 19.012 -7.99909 1.07771 19.0111 -7.00091 1.07771 19.0111 -6.002 1.06196 19.012 -9.00241 2.05398 18.8751 -8.00118 2.06992 18.8749 -6.99882 2.06992 18.8749 -5.99759 2.05398 18.8751 -9.00814 3.04653 18.7353 -8.00399 3.05541 18.734 -6.99601 3.05541 18.734 -5.99186 3.04653 18.7353 +T= 126 + X= -9 -2.48844e-11 -6.62725e-11 -8 -5.27788e-11 -1.293e-10 -7 -5.55606e-11 -1.36906e-10 -6 -2.82763e-11 -7.66732e-11 -9 1 -3.35528e-11 -8 1 -6.88575e-11 -7 1 -8.15431e-11 -6 1 -5.21178e-11 -9 2 5.29234e-11 -8 2 8.14919e-11 -7 2 6.8734e-11 -6 2 3.42047e-11 -9 3 7.73661e-11 -8 3 1.37566e-10 -7 3 1.2996e-10 -6 3 6.6939e-11 -9.01949 -0.0519481 0.94367 -8.00474 -0.0602238 0.941178 -6.99329 -0.0614594 0.937904 -5.97605 -0.0558686 0.933318 -9.00354 0.957694 0.99003 -8.00016 0.95134 0.98723 -6.9961 0.951106 0.984377 -5.99018 0.956872 0.980365 -8.9901 1.95543 1.01958 -7.99603 1.94987 1.01488 -6.99997 1.95046 1.01204 -6.00337 1.95705 1.00991 -8.97558 2.93947 1.06651 -7.99296 2.93421 1.06118 -7.00437 2.93579 1.05806 -6.01933 2.94424 1.05645 -9.00713 -0.130203 1.90567 -7.99901 -0.136886 1.89646 -6.98881 -0.138102 1.88971 -5.97872 -0.133909 1.88523 -8.99666 0.872112 1.97925 -7.99445 0.866667 1.97097 -6.99081 0.866441 1.96445 -5.98656 0.871365 1.95923 -8.98594 1.86864 2.03715 -7.99042 1.86409 2.03099 -6.99426 1.86492 2.02451 -5.99676 1.87101 2.01715 -8.97747 2.85729 2.11043 -7.98777 2.85343 2.10504 -6.99814 2.85522 2.09863 -6.00661 2.86259 2.09061 -8.99063 -0.232011 2.88348 -7.98749 -0.234676 2.87034 -6.98355 -0.235685 2.86044 -5.9785 -0.235145 2.85349 -8.98505 0.766251 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9.36898 -9.19427 3.1006 9.56887 -8.2072 3.11382 9.77216 -7.22448 3.11019 9.98257 -10.1546 4.03333 9.02949 -9.14708 4.05987 9.23098 -8.14329 4.06914 9.43642 -7.14396 4.06145 9.64922 -10.4561 1.59121 11.0301 -9.49886 1.62974 11.2333 -8.54477 1.65271 11.4399 -7.59487 1.66028 11.6543 -10.4202 2.50231 10.6389 -9.44713 2.53797 10.8447 -8.47747 2.55808 11.0546 -7.51207 2.56334 11.2719 -10.3813 3.42895 10.2521 -9.39327 3.46184 10.4599 -8.40826 3.47952 10.6719 -7.42735 3.48168 10.893 -10.3412 4.37186 9.86387 -9.33691 4.40199 10.0737 -8.33521 4.41583 10.2886 -7.33942 4.41425 10.5118 -10.6793 2.03855 11.9823 -9.72329 2.07933 12.1928 -8.76937 2.10528 12.4072 -7.81939 2.11682 12.6285 -10.6326 2.92946 11.5476 -9.66149 2.9679 11.7605 -8.69301 2.99182 11.9778 -7.72851 3.00159 12.2024 -10.5839 3.83656 11.1173 -9.5978 3.8723 11.3321 -8.61495 3.89355 11.5521 -7.63693 3.90147 11.7801 -10.5334 4.75714 10.6841 -9.53208 4.7912 10.9006 -8.53402 4.80966 11.123 -7.54065 4.81415 11.354 -10.9068 2.53222 12.9082 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18.1307 -4.27144 5.72167 17.9983 -7.30151 6.63947 17.8551 -6.30522 6.65035 17.7261 -5.30647 6.62829 17.5953 -4.31252 6.57316 17.4634 -7.35874 7.48716 17.3162 -6.36031 7.48007 17.1766 -5.35433 7.45783 17.0454 -4.35388 7.42185 16.9226 diff --git a/examples/others/hexaBeam/reduced/hexaBeam/reduced_hexaBeam.py b/examples/others/hexaBeam/reduced/hexaBeam/reduced_hexaBeam.py new file mode 100644 index 00000000..2e24f409 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam/reduced_hexaBeam.py @@ -0,0 +1,138 @@ +# -*- coding: utf-8 -*- +import os +import Sofa +from numpy import add,subtract,multiply +try: + from splib3.numerics import * +except: + raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ + +"Please install it : https://github.com/SofaDefrost/STLIB") + +path = os.path.dirname(os.path.abspath(__file__)) + +def TRSinOrigin(positions,modelPosition,translation,rotation,scale=[1.0,1.0,1.0]): + posOrigin = subtract(positions , modelPosition) + if any(isinstance(el, list) for el in positions): + posOriginTRS = transformPositions(posOrigin,translation,eulerRotation=rotation,scale=scale) + else: + posOriginTRS = transformPosition(posOrigin,TRS_to_matrix(translation,eulerRotation=rotation,scale=scale)) + return add(posOriginTRS,modelPosition).tolist() + +def newBox(positions,modelPosition,translation,rotation,offset,scale=[1.0,1.0,1.0]): + pos = TRSinOrigin(positions,modelPosition,translation,rotation,scale) + offset =transformPositions([offset],eulerRotation=rotation,scale=scale)[0] + return add(pos,offset).tolist() + +def Reduced_test( + attachedTo=None, + name="Reduced_test", + rotation=[0.0, 0.0, 0.0], + translation=[0.0, 0.0, 0.0], + scale=[1.0, 1.0, 1.0], + surfaceMeshFileName=False, + surfaceColor=[1.0, 1.0, 1.0], + nbrOfModes=8, + hyperReduction=True): + """ + Object with an elastic deformation law. + + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | argument | type | definition | + +=====================+===========+=================================================================================================+ + | attachedTo | Sofa.Node | Where the node is created; | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | name | str | name of the Sofa.Node it will | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | rotation | vec3f | Apply a 3D rotation to the object in Euler angles. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | translation | vec3f | Apply a 3D translation to the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | scale | vec3f | Apply a 3D scale to the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | surfaceMeshFileName | str | Filepath to a surface mesh (STL, OBJ). If missing there is no visual properties to this object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | surfaceColor | vec3f | The default color used for the rendering of the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | nbrOfModes | int | Number of modes we want our reduced model to work with | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | hyperReduction | Bool | Controlled if we have the simple reduction or the hyper-reduction | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + + """ + + modelRoot = attachedTo.addChild(name) + + M1_MOR = modelRoot.addChild('M1_MOR') + M1_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = '0.1', rayleighMass = '0.1') + M1_MOR.addObject('SparseLDLSolver' , name = 'preconditioner') + M1_MOR.addObject('GenericConstraintCorrection') + M1_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) + + + M1 = M1_MOR.addChild('M1') + M1.addObject('MechanicalObject') + M1.addObject('UniformMass' , totalMass = '0.1') + M1.addObject('RegularGrid' , nx = '4', ny = '4', nz = '20', xmin = '-9', xmax = '-6', ymin = '0', ymax = '3', zmin = '0', zmax = '19') + M1.addObject('HyperReducedRestShapeSpringsForceField' , points = '0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15', stiffness = 1000000000000.0, name = 'reducedFF_M1_0', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_0_RID.txt', weightsPath = path + r'/data/reducedFF_M1_0_weight.txt') + M1.addObject('HyperReducedHexahedronFEMForceField' , name = 'reducedFF_M1_1', youngModulus = '4000', poissonRatio = '0.3', method = 'large', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'/data/modes.txt', RIDPath = path + r'/data/reducedFF_M1_1_RID.txt', weightsPath = path + r'/data/reducedFF_M1_1_weight.txt') + M1.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'/data/modes.txt', output = '@./MechanicalObject') + + + cableNodeTip = M1.addChild('cableNodeTip') + cableNodeTip.addObject('MechanicalObject' , name = 'actuatedTip', template = 'Vec3d', position = '-7.5 1.5 18.5') + cableNodeTip.addObject('CableConstraint' , name = 'tipCable', indices = '0', pullPoint = '-7.5 10 18.5', valueType = 'displacement') + cableNodeTip.addObject('BarycentricMapping' , mapForces = 'false', mapMasses = 'false') + + + cableNodeSide = M1.addChild('cableNodeSide') + cableNodeSide.addObject('MechanicalObject' , name = 'actuatedSide', template = 'Vec3d', position = '-7.5 1.5 18.5') + cableNodeSide.addObject('CableConstraint' , name = 'sideCable', indices = '0', pullPoint = '1 10 18.5', valueType = 'displacement') + cableNodeSide.addObject('BarycentricMapping' , mapForces = 'false', mapMasses = 'false') + + return M1 + + +# STLIB IMPORT +from stlib3.scene import MainHeader +def createScene(rootNode): + surfaceMeshFileName = False + + MainHeader(rootNode,plugins=["SoftRobots","ModelOrderReduction"], + dt=0.02, + gravity=[0.0, -9810.0, 0.0]) + rootNode.VisualStyle.displayFlags="showForceFields" + + Reduced_test(rootNode, + name="Reduced_test", + surfaceMeshFileName=surfaceMeshFileName) + + # translate = 300 + # rotationBlue = 60.0 + # rotationWhite = 80 + # rotationRed = 70 + + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_blue_"+str(i), + # rotation=[rotationBlue*i, 0.0, 0.0], + # translation=[i*translate, 0.0, 0.0], + # surfaceColor=[0.0, 0.0, 1, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_white_"+str(i), + # rotation=[0.0, rotationWhite*i, 0.0], + # translation=[i*translate, translate, -translate], + # surfaceColor=[0.5, 0.5, 0.5, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) + + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_red_"+str(i), + # rotation=[0.0, 0.0, i*rotationRed], + # translation=[i*translate, 2*translate, -2*translate], + # surfaceColor=[1, 0.0, 0.0, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt new file mode 100644 index 00000000..cff9629c --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt @@ -0,0 +1,24 @@ +88 +89 +92 +93 +104 +105 +108 +109 +192 +193 +196 +197 +200 +201 +204 +205 +208 +209 +212 +213 +216 +217 +220 +221 diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/modes.txt 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b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_weight.txt new file mode 100644 index 00000000..2bc6d2ec --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_weight.txt @@ -0,0 +1,97 @@ +96 1 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 0.00000 + 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100644 index 00000000..5b9077b1 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/debug_scene.py @@ -0,0 +1,39 @@ +# -*- coding: utf-8 -*- +import os +import imp +import platform +from sys import argv + +# STLIB IMPORT +try: + from stlib3.scene.wrapper import Wrapper +except: + raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ + +"Please install it : https://github.com/SofaDefrost/STLIB") + +# MOR IMPORT +from mor.utility import sceneCreation as u + +slash = '/' +if "Windows" in platform.platform(): + slash = "\\" + +# Our Original Scene IMPORT +originalScene = r'C:\projects\sofa_dev\sofa_plugins\MOR\tools\test\sofa_test_scene\hexaBeam_gravity.py' +originalScene = os.path.normpath(originalScene) +originalScene = imp.load_source(originalScene.split(slash)[-1], originalScene) + +paramWrapper = ('/M1', {'paramForcefield': {'prepareECSW': True, 'modesPath': 'C:\\projects\\sofa_dev\\sofa_plugins\\MOR\\tools\\test\\sofa_test_scene\\hexaBeam_test_Res\\data\\modes.txt', 'periodSaveGIE': 6, 'nbTrainingSet': 5}, 'paramMORMapping': {'input': '@../MechanicalObject', 'modesPath': 'C:\\projects\\sofa_dev\\sofa_plugins\\MOR\\tools\\test\\sofa_test_scene\\hexaBeam_test_Res\\data\\modes.txt'}, 'paramMappedMatrixMapping': {'nodeToParse': '@.//M1', 'template': 'Vec1d,Vec1d', 'object1': '@./MechanicalObject', 'object2': '@./MechanicalObject', 'timeInvariantMapping1': True, 'timeInvariantMapping2': True, 'performECSW': False}}) + +def createScene(rootNode): + + if (len(argv) > 1): + stateFileName = str(argv[1]) + else: + stateFileName="stateFile.state" + originalScene.createScene(rootNode) + + path , param = paramWrapper + pathToNode = path[1:] + + u.createDebug(rootNode,pathToNode,stateFileName) \ No newline at end of file diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt new file mode 100644 index 00000000..383ee390 --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt @@ -0,0 +1,20 @@ +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 +0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 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1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9 0 6 -8 0 6 -7 0 6 -6 0 6 -9 1 6 -8 1 6 -7 1 6 -6 1 6 -9 2 6 -8 2 6 -7 2 6 -6 2 6 -9 3 6 -8 3 6 -7 3 6 -6 3 6 -9 0 7 -8 0 7 -7 0 7 -6 0 7 -9 1 7 -8 1 7 -7 1 7 -6 1 7 -9 2 7 -8 2 7 -7 2 7 -6 2 7 -9 3 7 -8 3 7 -7 3 7 -6 3 7 -9 0 8 -8 0 8 -7 0 8 -6 0 8 -9 1 8 -8 1 8 -7 1 8 -6 1 8 -9 2 8 -8 2 8 -7 2 8 -6 2 8 -9 3 8 -8 3 8 -7 3 8 -6 3 8 -9 0 9 -8 0 9 -7 0 9 -6 0 9 -9 1 9 -8 1 9 -7 1 9 -6 1 9 -9 2 9 -8 2 9 -7 2 9 -6 2 9 -9 3 9 -8 3 9 -7 3 9 -6 3 9 -9 0 10 -8 0 10 -7 0 10 -6 0 10 -9 1 10 -8 1 10 -7 1 10 -6 1 10 -9 2 10 -8 2 10 -7 2 10 -6 2 10 -9 3 10 -8 3 10 -7 3 10 -6 3 10 -9 0 11 -8 0 11 -7 0 11 -6 0 11 -9 1 11 -8 1 11 -7 1 11 -6 1 11 -9 2 11 -8 2 11 -7 2 11 -6 2 11 -9 3 11 -8 3 11 -7 3 11 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9.49431 -8.98437 0.34592 9.97105 -7.99483 0.329451 9.96311 -7.00517 0.329451 9.96311 -6.01563 0.34592 9.97105 -8.95617 1.1948 10.4556 -7.98562 1.1785 10.4489 -7.01438 1.1785 10.4489 -6.04383 1.1948 10.4556 -9.03122 -1.91324 9.77266 -8.01043 -1.92291 9.76151 -6.98957 -1.92291 9.76151 -5.96878 -1.91324 9.77266 -9.00924 -1.05987 10.319 -8.00313 -1.07062 10.3091 -6.99687 -1.07062 10.3091 -5.99076 -1.05987 10.319 -8.98694 -0.212762 10.8455 -7.99566 -0.225409 10.8388 -7.00434 -0.225409 10.8388 -6.01306 -0.212762 10.8455 -8.96479 0.612516 11.3784 -7.98841 0.599937 11.3727 -7.01159 0.599937 11.3727 -6.03521 0.612516 11.3784 -9.02336 -2.45765 10.5429 -8.00777 -2.46427 10.5339 -6.99223 -2.46427 10.5339 -5.97664 -2.45765 10.5429 -9.00657 -1.63043 11.1236 -8.00221 -1.63816 11.1156 -6.99779 -1.63816 11.1156 -5.99343 -1.63043 11.1236 -8.98936 -0.806778 11.6879 -7.99645 -0.816271 11.6826 -7.00355 -0.816271 11.6826 -6.01064 -0.806778 11.6879 -8.97245 -0.0014256 12.2578 -7.99092 -0.0108792 12.2533 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0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9 0 6 -8 0 6 -7 0 6 -6 0 6 -9 1 6 -8 1 6 -7 1 6 -6 1 6 -9 2 6 -8 2 6 -7 2 6 -6 2 6 -9 3 6 -8 3 6 -7 3 6 -6 3 6 -9 0 7 -8 0 7 -7 0 7 -6 0 7 -9 1 7 -8 1 7 -7 1 7 -6 1 7 -9 2 7 -8 2 7 -7 2 7 -6 2 7 -9 3 7 -8 3 7 -7 3 7 -6 3 7 -9 0 8 -8 0 8 -7 0 8 -6 0 8 -9 1 8 -8 1 8 -7 1 8 -6 1 8 -9 2 8 -8 2 8 -7 2 8 -6 2 8 -9 3 8 -8 3 8 -7 3 8 -6 3 8 -9 0 9 -8 0 9 -7 0 9 -6 0 9 -9 1 9 -8 1 9 -7 1 9 -6 1 9 -9 2 9 -8 2 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-2.20459 16.5421 -8.9982 -1.3045 17.0095 -7.99943 -1.30471 17.0099 -7.00057 -1.30471 17.0099 -6.0018 -1.3045 17.0095 -9.00007 -4.48124 16.509 -7.99998 -4.48051 16.5086 -7.00002 -4.48051 16.5086 -5.99993 -4.48124 16.509 -9.00009 -3.57924 16.9775 -8.00003 -3.57882 16.9773 -6.99997 -3.57882 16.9773 -5.99991 -3.57924 16.9775 -8.99964 -2.67715 17.4443 -7.99988 -2.67694 17.4445 -7.00012 -2.67694 17.4445 -6.00036 -2.67715 17.4443 -8.99967 -1.77688 17.9132 -7.99995 -1.77643 17.9135 -7.00005 -1.77643 17.9135 -6.00033 -1.77688 17.9132 -8.99905 -4.9521 17.409 -7.99963 -4.9505 17.409 -7.00037 -4.9505 17.409 -6.00095 -4.9521 17.409 -8.99975 -4.04984 17.8781 -7.99991 -4.04883 17.8781 -7.00009 -4.04883 17.8781 -6.00025 -4.04984 17.8781 -8.99983 -3.14822 18.3457 -7.99989 -3.14732 18.346 -7.00011 -3.14732 18.346 -6.00017 -3.14822 18.3457 -9.00036 -2.24864 18.8149 -8.00014 -2.247 18.8151 -6.99986 -2.247 18.8151 -5.99964 -2.24864 18.8149 +T= 54 + X= -9 -2.57051e-08 1.93047e-29 -8 -2.57051e-08 3.2057e-29 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2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9.07462 -0.0922428 5.81945 -8.02097 -0.119642 5.82412 -6.97903 -0.119642 5.82412 -5.92538 -0.0922428 5.81945 -9.02553 0.936819 5.94767 -8.00775 0.912032 5.94973 -6.99225 0.912032 5.94973 -5.97447 0.936819 5.94767 -8.97835 1.92337 6.05341 -7.99395 1.89925 6.04491 -7.00605 1.89925 6.04491 -6.02165 1.92337 6.05341 -8.92715 2.8672 6.18374 -7.98037 2.8422 6.17223 -7.01963 2.8422 6.17223 -6.07285 2.8672 6.18374 -9.07021 -0.265993 6.64779 -8.02475 -0.296252 6.64053 -6.97525 -0.296252 6.64053 -5.92979 -0.265993 6.64779 -9.02484 0.731936 6.88123 -8.00905 0.704144 6.87449 -6.99095 0.704144 6.87449 -5.97516 0.731936 6.88123 -8.97784 1.70127 7.0951 -7.99257 1.6739 7.08828 -7.00743 1.6739 7.08828 -6.02216 1.70127 7.0951 -8.93254 2.63821 7.32679 -7.97701 2.61031 7.31991 -7.02299 2.61031 7.31991 -6.06746 2.63821 7.32679 -9.05973 -0.540537 7.47527 -8.0202 -0.564434 7.4631 -6.9798 -0.564434 7.4631 -5.94027 -0.540537 7.47527 -9.02014 0.430455 7.79895 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4.45394e-29 -6 1 5.66133e-30 -9 2 -1.22809e-29 -8 2 -5.89774e-29 -7 2 -5.6497e-29 -6 2 -3.1058e-29 -9 3 -1.67894e-29 -8 3 -3.62795e-29 -7 3 -3.69407e-29 -6 3 -1.30191e-29 -9 -2.86665e-08 1 -8 -2.86665e-08 1 -7 -2.86665e-08 1 -6 -2.86665e-08 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 -2.86665e-08 2 -8 -2.86665e-08 2 -7 -2.86665e-08 2 -6 -2.86665e-08 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 -2.86665e-08 3 -8 -2.86665e-08 3 -7 -2.86665e-08 3 -6 -2.86665e-08 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 -2.86741e-08 4 -8 -2.86863e-08 4 -7 -2.86863e-08 4 -6 -2.86741e-08 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 -5.08641e-07 5 -8 -1.14431e-06 5 -7 -1.14431e-06 5 -6 -5.08641e-07 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9.08116 -0.0970575 5.80444 -8.02285 -0.126824 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-7.98072 2.84207 6.17039 -7.01928 2.84207 6.17039 -6.07193 2.86709 6.18204 -9.06979 -0.264444 6.64914 -8.02474 -0.294382 6.64137 -6.97526 -0.294382 6.64137 -5.93021 -0.264444 6.64914 -9.02473 0.732623 6.88292 -8.00897 0.704839 6.8756 -6.99103 0.704839 6.8756 -5.97527 0.732623 6.88292 -8.97783 1.70134 7.09503 -7.99258 1.67406 7.08818 -7.00742 1.67406 7.08818 -6.02217 1.70134 7.09503 -8.93358 2.63919 7.32332 -7.97728 2.61123 7.31643 -7.02272 2.61123 7.31643 -6.06642 2.63919 7.32332 -9.05936 -0.538392 7.47752 -8.01976 -0.561832 7.46472 -6.98024 -0.561832 7.46472 -5.94064 -0.538392 7.47752 -9.0198 0.431536 7.80071 -8.00677 0.408643 7.79009 -6.99323 0.408643 7.79009 -5.9802 0.431536 7.80071 -8.98073 1.38053 8.10131 -7.99375 1.35657 8.09513 -7.00625 1.35657 8.09513 -6.01927 1.38053 8.10131 -8.94157 2.29927 8.41685 -7.98126 2.27525 8.41175 -7.01874 2.27525 8.41175 -6.05843 2.29927 8.41685 -9.04717 -0.886107 8.30212 -8.01589 -0.904036 8.28978 -6.98411 -0.904036 8.28978 -5.95283 -0.886107 8.30212 -9.01541 0.0549393 8.69779 -8.00513 0.0364811 8.68708 -6.99487 0.0364811 8.68708 -5.98459 0.0549393 8.69779 -8.98362 0.979895 9.0724 -7.99434 0.960396 9.06619 -7.00566 0.960396 9.06619 -6.01638 0.979895 9.0724 -8.95124 1.87798 9.46043 -7.98411 1.85847 9.45476 -7.01589 1.85847 9.45476 -6.04876 1.87798 9.46043 -9.03767 -1.29625 9.12186 -8.01254 -1.30913 9.11108 -6.98746 -1.30913 9.11108 -5.96233 -1.29625 9.12186 -9.01208 -0.383127 9.57447 -8.00402 -0.397096 9.56477 -6.99598 -0.397096 9.56477 -5.98792 -0.383127 9.57447 -8.98592 0.518343 10.0092 -7.99549 0.502784 10.0029 -7.00451 0.502784 10.0029 -6.01408 0.518343 10.0092 -8.96032 1.39579 10.4544 -7.98696 1.38023 10.4498 -7.01304 1.38023 10.4498 -6.03968 1.39579 10.4544 -9.02922 -1.75686 9.93672 -8.00973 -1.76632 9.9275 -6.99027 -1.76632 9.9275 -5.97078 -1.75686 9.93672 -9.00872 -0.869089 10.4333 -8.0029 -0.879638 10.4252 -6.9971 -0.879638 10.4252 -5.99128 -0.869089 10.4333 -8.98821 0.0104639 10.9146 -7.99607 -0.00168315 10.9094 -7.00393 -0.00168315 10.9094 -6.01179 0.0104639 10.9146 -8.9677 0.869395 11.4052 -7.98923 0.857257 11.4011 -7.01077 0.857257 11.4011 -6.0323 0.869395 11.4052 -9.02186 -2.25876 10.7466 -8.00747 -2.26591 10.7389 -6.99253 -2.26591 10.7389 -5.97814 -2.25876 10.7466 -9.00646 -1.39264 11.2764 -8.00233 -1.40032 11.2699 -6.99767 -1.40032 11.2699 -5.99354 -1.39264 11.2764 -8.99048 -0.531828 11.7935 -7.99663 -0.541111 11.7899 -7.00337 -0.541111 11.7899 -6.00952 -0.531828 11.7935 -8.97508 0.311237 12.3191 -7.9915 0.302528 12.3161 -7.0085 0.302528 12.3161 -6.02492 0.311237 12.3191 -9.01617 -2.79334 11.5524 -8.0052 -2.7976 11.5464 -6.9948 -2.7976 11.5464 -5.98383 -2.79334 11.5524 -9.00475 -1.94461 12.1069 -8.00177 -1.94996 12.102 -6.99823 -1.94996 12.102 -5.99525 -1.94461 12.1069 -8.99275 -1.09936 12.6518 -7.99776 -1.10576 12.6486 -7.00224 -1.10576 12.6486 -6.00725 -1.09936 12.6518 -8.98134 -0.267843 13.2027 -7.99377 -0.274801 13.2007 -7.00623 -0.274801 13.2007 -6.01866 -0.267843 13.2027 -9.01102 -3.352 12.3563 -8.00348 -3.35448 12.3519 -6.99652 -3.35448 12.3519 -5.98898 -3.352 12.3563 -9.00302 -2.5169 12.9285 -8.00119 -2.52049 12.9247 -6.99881 -2.52049 12.9247 -5.99698 -2.5169 12.9285 -8.99444 -1.68347 13.4926 -7.99833 -1.68812 13.4905 -7.00167 -1.68812 13.4905 -6.00556 -1.68347 13.4926 -8.98645 -0.861443 14.0625 -7.99548 -0.865528 14.061 -7.00452 -0.865528 14.061 -6.01355 -0.861443 14.0625 -9.007 -3.92837 13.1592 -8.00233 -3.92966 13.1565 -6.99767 -3.92966 13.1565 -5.993 -3.92837 13.1592 -9.00185 -3.10315 13.7438 -8.00061 -3.10498 13.7411 -6.99939 -3.10498 13.7411 -5.99815 -3.10315 13.7438 -8.99613 -2.27832 14.3218 -7.9989 -2.28122 14.3203 -7.0011 -2.28122 14.3203 -6.00387 -2.27832 14.3218 -8.991 -1.462 14.9044 -7.99718 -1.46491 14.9034 -7.00282 -1.46491 14.9034 -6.009 -1.462 14.9044 -9.00355 -4.51726 13.9637 -8.00118 -4.51737 13.9615 -6.99882 -4.51737 13.9615 -5.99645 -4.51726 13.9637 -9.00068 -3.6981 14.5555 -8.00004 -3.6993 14.5539 -6.99996 -3.6993 14.5539 -5.99932 -3.6981 14.5555 -8.99725 -2.87919 15.1423 -7.9989 -2.88093 15.1418 -7.0011 -2.88093 15.1418 -6.00275 -2.87919 15.1423 -8.9944 -2.06651 15.7328 -7.99832 -2.06768 15.7329 -7.00168 -2.06768 15.7329 -6.0056 -2.06651 15.7328 -9.00123 -5.11294 14.7697 -8.00059 -5.11188 14.7686 -6.99941 -5.11188 14.7686 -5.99877 -5.11294 14.7697 -9.00008 -4.29767 15.3651 -8.00003 -4.29772 15.3646 -6.99997 -4.29772 15.3646 -5.99992 -4.29767 15.3651 -8.99837 -3.482 15.9577 -7.99945 -3.48258 15.9577 -7.00055 -3.48258 15.9577 -6.00163 -3.482 15.9577 -8.99723 -2.6708 16.5528 -7.99945 -2.67139 16.5528 -7.00055 -2.67139 16.5528 -6.00277 -2.6708 16.5528 -9.00005 -5.71195 15.5787 -8.00001 -5.7103 15.5781 -6.99999 -5.7103 15.5781 -5.99995 -5.71195 15.5787 -9.00005 -4.8984 16.1754 -8.00001 -4.89785 16.1754 -6.99999 -4.89785 16.1754 -5.99995 -4.8984 16.1754 -8.99947 -4.08434 16.7703 -8.00001 -4.08434 16.7709 -6.99999 -4.08434 16.7709 -6.00053 -4.08434 16.7703 -8.99948 -3.27359 17.3676 -8.00001 -3.27306 17.3682 -6.99999 -3.27306 17.3682 -6.00052 -3.27359 17.3676 -8.99836 -6.31151 16.3894 -7.99945 -6.30925 16.3894 -7.00055 -6.30925 16.3894 -6.00164 -6.31151 16.3894 -8.99948 -5.49796 16.9867 -8.00002 -5.49626 16.9867 -6.99998 -5.49626 16.9867 -6.00052 -5.49796 16.9867 -8.99948 -4.68497 17.5828 -8.00002 -4.68383 17.5828 -6.99998 -4.68383 17.5828 -6.00052 -4.68497 17.5828 -9.00007 -3.8753 18.1801 -8.00003 -3.87308 18.1806 -6.99997 -3.87308 18.1806 -5.99993 -3.8753 18.1801 +T= 60 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9.08173 -0.0970721 5.80367 -8.02276 -0.126571 5.80832 -6.97724 -0.126571 5.80832 -5.91827 -0.0970721 5.80367 -9.02773 0.931414 5.94448 -8.00864 0.905058 5.9461 -6.99136 0.905058 5.9461 -5.97227 0.931414 5.94448 -8.97687 1.91375 6.0583 -7.99393 1.88809 6.04832 -7.00607 1.88809 6.04832 -6.02313 1.91375 6.0583 -8.92238 2.85099 6.19705 -7.97924 2.82418 6.18403 -7.02076 2.82418 6.18403 -6.07762 2.85099 6.19705 -9.07612 -0.282322 6.61665 -8.02703 -0.314776 6.60693 -6.97297 -0.314776 6.60693 -5.92388 -0.282322 6.61665 -9.02704 0.709465 6.87231 -8.00985 0.679542 6.86329 -6.99015 0.679542 6.86329 -5.97296 0.709465 6.87231 -8.97623 1.67072 7.10172 -7.99209 1.64145 7.09339 -7.00791 1.64145 7.09339 -6.02377 1.67072 7.10172 -8.92861 2.59918 7.34695 -7.9756 2.5694 7.33864 -7.0244 2.5694 7.33864 -6.07139 2.59918 7.34695 -9.06425 -0.576177 7.42624 -8.02144 -0.601067 7.41096 -6.97856 -0.601067 7.41096 -5.93575 -0.576177 7.42624 -9.02141 0.383097 7.77852 -8.00736 0.358832 7.76576 -6.99264 0.358832 7.76576 -5.97859 0.383097 7.77852 -8.97923 1.32079 8.10317 -7.99329 1.29525 8.09537 -7.00671 1.29525 8.09537 -6.02077 1.32079 8.10317 -8.93712 2.22626 8.44146 -7.97987 2.20077 8.43491 -7.02013 2.20077 8.43491 -6.06288 2.22626 8.44146 -9.05061 -0.948332 8.22931 -8.01709 -0.966993 8.21472 -6.98291 -0.966993 8.21472 -5.94939 -0.948332 8.22931 -9.01641 -0.0233724 8.65879 -8.00548 -0.0426731 8.64609 -6.99452 -0.0426731 8.64609 -5.98359 -0.0233724 8.65879 -8.98224 0.885699 9.0626 -7.99388 0.865106 9.05482 -7.00612 0.865106 9.05482 -6.01776 0.885699 9.0626 -8.94748 1.76624 9.47807 -7.98291 1.74565 9.47092 -7.01709 1.74565 9.47092 -6.05252 1.76624 9.47807 -9.04012 -1.38657 9.0246 -8.01338 -1.3997 9.01196 -6.98662 -1.3997 9.01196 -5.95988 -1.38657 9.0246 -9.01269 -0.494571 9.51392 -8.00423 -0.508949 9.50254 -6.99577 -0.508949 9.50254 -5.98731 -0.494571 9.51392 -8.98466 0.386506 9.98144 -7.99509 0.370209 9.97371 -7.00491 0.370209 9.97371 -6.01534 0.386506 9.98144 -8.95724 1.24209 10.4576 -7.98596 1.2258 10.4517 -7.01404 1.2258 10.4517 -6.04276 1.24209 10.4576 -9.03091 -1.87812 9.81213 -8.01031 -1.88759 9.80143 -6.98969 -1.88759 9.80143 -5.96909 -1.87812 9.81213 -9.009 -1.01581 10.3472 -8.003 -1.02654 10.3377 -6.997 -1.02654 10.3377 -5.991 -1.01581 10.3472 -8.98708 -0.1608 10.8636 -7.9957 -0.17344 10.8572 -7.0043 -0.17344 10.8572 -6.01292 -0.1608 10.8636 -8.96518 0.67239 11.3876 -7.9884 0.659743 11.3824 -7.0116 0.659743 11.3824 -6.03482 0.67239 11.3876 -9.02296 -2.41327 10.592 -8.00786 -2.42033 10.5832 -6.99214 -2.42033 10.5832 -5.97704 -2.41327 10.592 -9.00655 -1.57619 11.1611 -8.00239 -1.58389 11.1536 -6.99761 -1.58389 11.1536 -5.99345 -1.57619 11.1611 -8.98952 -0.743399 11.715 -7.99631 -0.753008 11.7104 -7.00369 -0.753008 11.7104 -6.01048 -0.743399 11.715 -8.97311 0.0705903 12.2759 -7.99084 0.0615865 12.2719 -7.00916 0.0615865 12.2719 -6.02689 0.0705903 12.2759 -9.01687 -2.98295 11.3655 -8.00542 -2.98701 11.3586 -6.99458 -2.98701 11.3586 -5.98313 -2.98295 11.3655 -9.00472 -2.166 11.9597 -8.00178 -2.17131 11.954 -6.99822 -2.17131 11.954 -5.99528 -2.166 11.9597 -8.99197 -1.3516 12.5424 -7.99753 -1.35819 12.5385 -7.00247 -1.35819 12.5385 -6.00803 -1.3516 12.5424 -8.97981 -0.551756 13.1298 -7.99328 -0.558966 13.1272 -7.00672 -0.558966 13.1272 -6.02019 -0.551756 13.1298 -9.01141 -3.57809 12.1353 -8.0036 -3.58037 12.1303 -6.9964 -3.58037 12.1303 -5.98859 -3.57809 12.1353 -9.00291 -2.77682 12.7472 -8.00118 -2.78033 12.7429 -6.99882 -2.78033 12.7429 -5.99709 -2.77682 12.7472 -8.99381 -1.97635 13.3497 -7.99814 -1.98115 13.3472 -7.00186 -1.98115 13.3472 -6.00619 -1.97635 13.3497 -8.9853 -1.18806 13.9572 -7.9951 -1.19224 13.9552 -7.0049 -1.19224 13.9552 -6.0147 -1.18806 13.9572 -9.00718 -4.19205 12.9027 -8.00239 -4.19315 12.8996 -6.99761 -4.19315 12.8996 -5.99282 -4.19205 12.9027 -9.00172 -3.40202 13.5271 -8.00058 -3.40376 13.524 -6.99942 -3.40376 13.524 -5.99828 -3.40202 13.5271 -8.99565 -2.6117 14.144 -7.99876 -2.61469 14.1421 -7.00124 -2.61469 14.1421 -6.00435 -2.6117 14.144 -8.99018 -1.83052 14.7647 -7.99693 -1.83352 14.7634 -7.00307 -1.83352 14.7634 -6.00982 -1.83052 14.7647 -9.00355 -4.81941 13.671 -8.00119 -4.81933 13.6685 -6.99881 -4.81933 13.6685 -5.99645 -4.81941 13.671 -9.00052 -4.03624 14.3024 -7.99997 -4.03741 14.3005 -7.00003 -4.03741 14.3005 -5.99948 -4.03624 14.3024 -8.99688 -3.25287 14.9283 -7.99876 -3.25467 14.9276 -7.00124 -3.25467 14.9276 -6.00312 -3.25287 14.9283 -8.99384 -2.47623 15.5575 -7.99815 -2.47742 15.5574 -7.00185 -2.47742 15.5574 -6.00616 -2.47623 15.5575 -9.00115 -5.45411 14.4402 -8.00059 -5.45284 14.439 -6.99941 -5.45284 14.439 -5.99885 -5.45411 14.4402 -8.99994 -4.67527 15.0751 -7.99998 -4.67524 15.0745 -7.00002 -4.67524 15.0745 -6.00006 -4.67527 15.0751 -8.99812 -3.89569 15.707 -7.99937 -3.8963 15.707 -7.00063 -3.8963 15.707 -6.00188 -3.89569 15.707 -8.9969 -3.12105 16.3411 -7.99937 -3.12165 16.3411 -7.00063 -3.12165 16.3411 -6.0031 -3.12105 16.3411 -8.99997 -6.09254 15.2124 -7.99999 -6.09067 15.2118 -7.00001 -6.09067 15.2118 -6.00003 -6.09254 15.2124 -8.99997 -5.31551 15.8484 -7.99999 -5.31489 15.8484 -7.00001 -5.31489 15.8484 -6.00003 -5.31551 15.8484 -8.99936 -4.53783 16.4827 -7.99999 -4.53783 16.4833 -7.00001 -4.53783 16.4833 -6.00064 -4.53783 16.4827 -8.99935 -3.76389 17.1193 -7.99999 -3.76326 17.1199 -7.00001 -3.76326 17.1199 -6.00065 -3.76389 17.1193 -8.99812 -6.73158 15.9864 -7.99937 -6.72913 15.9864 -7.00063 -6.72913 15.9864 -6.00188 -6.73158 15.9864 -8.99935 -5.95456 16.623 -7.99999 -5.95272 16.623 -7.00001 -5.95272 16.623 -6.00065 -5.95456 16.623 -8.99935 -5.17815 17.2584 -7.99999 -5.17693 17.2584 -7.00001 -5.17693 17.2584 -6.00065 -5.17815 17.2584 -8.99994 -4.40547 17.895 -7.99998 -4.40299 17.8956 -7.00002 -4.40299 17.8956 -6.00006 -4.40547 17.895 +T= 66 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9.08403 -0.0987444 5.79839 -8.02341 -0.12908 5.80295 -6.97659 -0.12908 5.80295 -5.91597 -0.0987444 5.79839 -9.02857 0.92968 5.94325 -8.00892 0.902636 5.94474 -6.99108 0.902636 5.94474 -5.97143 0.92968 5.94325 -8.9764 1.9106 6.05989 -7.99382 1.88434 6.04949 -7.00618 1.88434 6.04949 -6.0236 1.9106 6.05989 -8.92055 2.84547 6.20192 -7.97877 2.81809 6.18843 -7.02123 2.81809 6.18843 -6.07945 2.84547 6.20192 -9.07821 -0.287893 6.6059 -8.02779 -0.321166 6.59547 -6.97221 -0.321166 6.59547 -5.92179 -0.287893 6.6059 -9.0278 0.701887 6.86881 -8.01015 0.671278 6.85917 -6.98985 0.671278 6.85917 -5.9722 0.701887 6.86881 -8.97572 1.66043 7.10383 -7.99194 1.63054 7.09496 -7.00806 1.63054 7.09496 -6.02428 1.66043 7.10383 -8.92703 2.5856 7.35444 -7.97507 2.55525 7.34562 -7.02493 2.55525 7.34562 -6.07297 2.5856 7.35444 -9.06584 -0.588049 7.40912 -8.02199 -0.613382 7.39295 -6.97801 -0.613382 7.39295 -5.93416 -0.588049 7.40912 -9.02193 0.36729 7.77098 -8.00755 0.34261 7.75745 -6.99245 0.34261 7.75745 -5.97807 0.36729 7.77098 -8.97875 1.3009 8.1034 -7.99314 1.27488 8.095 -7.00686 1.27488 8.095 -6.02125 1.3009 8.1034 -8.9357 2.20169 8.44887 -7.97942 2.17575 8.44179 -7.02058 2.17575 8.44179 -6.0643 2.20169 8.44887 -9.0517 -0.967886 8.20479 -8.01747 -0.986741 8.18941 -6.98253 -0.986741 8.18941 -5.9483 -0.967886 8.20479 -9.01673 -0.0488025 8.64532 -8.00559 -0.0683367 8.63191 -6.99441 -0.0683367 8.63191 -5.98327 -0.0488025 8.64532 -8.9818 0.854548 9.0585 -7.99373 0.83363 9.05014 -7.00627 0.83363 9.05014 -6.0182 0.854548 9.0585 -8.94628 1.72886 9.4826 -7.98253 1.70795 9.47491 -7.01747 1.70795 9.47491 -6.05372 1.72886 9.4826 -9.04087 -1.41491 8.99158 -8.01365 -1.42807 8.97829 -6.98635 -1.42807 8.97829 -5.95913 -1.41491 8.99158 -9.01286 -0.530575 9.49279 -8.0043 -0.545043 9.4808 -6.9957 -0.545043 9.4808 -5.98714 -0.530575 9.49279 -8.98424 0.343167 9.97078 -7.99496 0.326662 9.96254 -7.00504 0.326662 9.96254 -6.01576 0.343167 9.97078 -8.95625 1.19098 10.4566 -7.98564 1.17447 10.4503 -7.01436 1.17447 10.4503 -6.04375 1.19098 10.4566 -9.03142 -1.91608 9.76954 -8.01049 -1.9255 9.75833 -6.98951 -1.9255 9.75833 -5.96858 -1.91608 9.76954 -9.00906 -1.06299 10.3169 -8.00303 -1.07373 10.3069 -6.99697 -1.07373 10.3069 -5.99094 -1.06299 10.3169 -8.98671 -0.216787 10.8445 -7.99557 -0.229558 10.8377 -7.00443 -0.229558 10.8377 -6.01329 -0.216787 10.8445 -8.96436 0.607226 11.379 -7.98813 0.594442 11.3733 -7.01187 0.594442 11.3733 -6.03564 0.607226 11.379 -9.02328 -2.46154 10.5388 -8.00798 -2.46854 10.5296 -6.99202 -2.46854 10.5296 -5.97672 -2.46154 10.5388 -9.00655 -1.63493 11.1204 -8.0024 -1.64261 11.1125 -6.9976 -1.64261 11.1125 -5.99345 -1.63493 11.1204 -8.9892 -0.812206 11.6859 -7.9962 -0.821894 11.681 -7.0038 -0.821894 11.681 -6.0108 -0.812206 11.6859 -8.97247 -0.00859318 12.2577 -7.99062 -0.0176681 12.2535 -7.00938 -0.0176681 12.2535 -6.02753 -0.00859318 12.2577 -9.01707 -3.04209 11.3009 -8.00548 -3.04605 11.2938 -6.99452 -3.04605 11.2938 -5.98293 -3.04209 11.3009 -9.00469 -2.23658 11.9076 -8.00178 -2.24184 11.9016 -6.99822 -2.24184 11.9016 -5.99531 -2.23658 11.9076 -8.99171 -1.43324 12.5022 -7.99745 -1.43987 12.498 -7.00255 -1.43987 12.498 -6.00829 -1.43324 12.5022 -8.97932 -0.644714 13.101 -7.99312 -0.651987 13.0981 -7.00688 -0.651987 13.0981 -6.02068 -0.644714 13.101 -9.0115 -3.64851 12.0586 -8.00363 -3.65069 12.0534 -6.99637 -3.65069 12.0534 -5.9885 -3.64851 12.0586 -9.00286 -2.85938 12.683 -8.00116 -2.86286 12.6784 -6.99884 -2.86286 12.6784 -5.99714 -2.85938 12.683 -8.99359 -2.07074 13.2975 -7.99808 -2.07557 13.2947 -7.00192 -2.07557 13.2947 -6.00641 -2.07074 13.2975 -8.98492 -1.2945 13.9165 -7.99497 -1.29871 13.9144 -7.00503 -1.29871 13.9144 -6.01508 -1.2945 13.9165 -9.00721 -4.27408 12.8134 -8.0024 -4.2751 12.8102 -6.9976 -4.2751 12.8102 -5.99279 -4.27408 12.8134 -9.00166 -3.49668 13.4501 -8.00056 -3.49837 13.4469 -6.99944 -3.49837 13.4469 -5.99834 -3.49668 13.4501 -8.99548 -2.71873 14.0791 -7.99871 -2.72174 14.0771 -7.00129 -2.72174 14.0771 -6.00452 -2.71873 14.0791 -8.98991 -1.95012 14.7117 -7.99685 -1.95313 14.7102 -7.00315 -1.95313 14.7102 -6.01009 -1.95012 14.7117 -9.00354 -4.91333 13.5687 -8.00119 -4.91317 13.5662 -6.99881 -4.91317 13.5662 -5.99646 -4.91333 13.5687 -9.00046 -4.14306 14.2124 -7.99995 -4.14421 14.2105 -7.00005 -4.14421 14.2105 -5.99954 -4.14306 14.2124 -8.99675 -3.37243 14.8504 -7.99871 -3.37424 14.8497 -7.00129 -3.37424 14.8497 -6.00325 -3.37243 14.8504 -8.99365 -2.60869 15.4916 -7.99809 -2.60988 15.4915 -7.00191 -2.60988 15.4915 -6.00635 -2.60869 15.4916 -9.00111 -5.56009 14.3248 -8.00059 -5.55875 14.3235 -6.99941 -5.55875 14.3235 -5.99889 -5.56009 14.3248 -8.99988 -4.79432 14.972 -7.99996 -4.79425 14.9713 -7.00004 -4.79425 14.9713 -6.00012 -4.79432 14.972 -8.99803 -4.02767 15.616 -7.99935 -4.02829 15.616 -7.00065 -4.02829 15.616 -6.00197 -4.02767 15.616 -8.99679 -3.26612 16.2622 -7.99935 -3.26672 16.2621 -7.00065 -3.26672 16.2621 -6.00321 -3.26612 16.2622 -8.99993 -6.21073 15.0838 -7.99999 -6.20878 15.0831 -7.00001 -6.20878 15.0831 -6.00007 -6.21073 15.0838 -8.99993 -5.44679 15.732 -7.99999 -5.44614 15.732 -7.00001 -5.44614 15.732 -6.00007 -5.44679 15.732 -8.99932 -4.68214 16.3785 -7.99999 -4.68214 16.379 -7.00001 -4.68214 16.379 -6.00068 -4.68214 16.3785 -8.99931 -3.92138 17.0273 -7.99999 -3.92072 17.0278 -7.00001 -3.92072 17.0278 -6.00069 -3.92138 17.0273 -8.99804 -6.862 15.8446 -7.99935 -6.85948 15.8446 -7.00065 -6.85948 15.8446 -6.00196 -6.862 15.8446 -8.99931 -6.09807 16.4934 -7.99997 -6.09619 16.4934 -7.00003 -6.09619 16.4934 -6.00069 -6.09807 16.4934 -8.99931 -5.33476 17.141 -7.99997 -5.33352 17.141 -7.00003 -5.33352 17.141 -6.00069 -5.33476 17.141 -8.9999 -4.57533 17.7898 -7.99996 -4.57276 17.7904 -7.00004 -4.57276 17.7904 -6.0001 -4.57533 17.7898 +T= 72 + X= -9 0 0 -8 0 0 -7 0 0 -6 0 0 -9 1 0 -8 1 0 -7 1 0 -6 1 0 -9 2 0 -8 2 0 -7 2 0 -6 2 0 -9 3 0 -8 3 0 -7 3 0 -6 3 0 -9 0 1 -8 0 1 -7 0 1 -6 0 1 -9 1 1 -8 1 1 -7 1 1 -6 1 1 -9 2 1 -8 2 1 -7 2 1 -6 2 1 -9 3 1 -8 3 1 -7 3 1 -6 3 1 -9 0 2 -8 0 2 -7 0 2 -6 0 2 -9 1 2 -8 1 2 -7 1 2 -6 1 2 -9 2 2 -8 2 2 -7 2 2 -6 2 2 -9 3 2 -8 3 2 -7 3 2 -6 3 2 -9 0 3 -8 0 3 -7 0 3 -6 0 3 -9 1 3 -8 1 3 -7 1 3 -6 1 3 -9 2 3 -8 2 3 -7 2 3 -6 2 3 -9 3 3 -8 3 3 -7 3 3 -6 3 3 -9 0 4 -8 0 4 -7 0 4 -6 0 4 -9 1 4 -8 1 4 -7 1 4 -6 1 4 -9 2 4 -8 2 4 -7 2 4 -6 2 4 -9 3 4 -8 3 4 -7 3 4 -6 3 4 -9 0 5 -8 0 5 -7 0 5 -6 0 5 -9 1 5 -8 1 5 -7 1 5 -6 1 5 -9 2 5 -8 2 5 -7 2 5 -6 2 5 -9 3 5 -8 3 5 -7 3 5 -6 3 5 -9.08481 -0.0992704 5.79662 -8.02364 -0.129886 5.80114 -6.97636 -0.129886 5.80114 -5.91519 -0.0992704 5.79662 -9.02886 0.929105 5.94285 -8.00901 0.901832 5.94428 -6.99099 0.901832 5.94428 -5.97114 0.929105 5.94285 -8.97625 1.90951 6.06042 -7.99379 1.88306 6.04988 -7.00621 1.88306 6.04988 -6.02375 1.90951 6.06042 -8.91995 2.84357 6.20353 -7.97861 2.81601 6.18988 -7.02139 2.81601 6.18988 -6.08005 2.84357 6.20353 -9.07891 -0.289683 6.6023 -8.02804 -0.323228 6.59161 -6.97196 -0.323228 6.59161 -5.92109 -0.289683 6.6023 -9.02806 0.699364 6.86764 -8.01025 0.668531 6.85778 -6.98975 0.668531 6.85778 -5.97194 0.699364 6.86764 -8.97556 1.65695 7.10451 -7.99189 1.62685 7.09545 -7.00811 1.62685 7.09545 -6.02444 1.65695 7.10451 -8.92651 2.58097 7.35688 -7.9749 2.55044 7.34788 -7.0251 2.55044 7.34788 -6.07349 2.58097 7.35688 -9.06637 -0.591889 7.40334 -8.02217 -0.617361 7.38686 -6.97783 -0.617361 7.38686 -5.93363 -0.591889 7.40334 -9.0221 0.362037 7.76841 -8.00761 0.337228 7.75461 -6.99239 0.337228 7.75461 -5.9779 0.362037 7.76841 -8.9786 1.2942 8.10339 -7.9931 1.26802 8.09478 -7.0069 1.26802 8.09478 -6.0214 1.2942 8.10339 -8.93524 2.19335 8.45119 -7.97927 2.16727 8.44392 -7.02073 2.16727 8.44392 -6.06476 2.19335 8.45119 -9.05205 -0.97421 8.19647 -8.0176 -0.993119 8.18081 -6.9824 -0.993119 8.18081 -5.94795 -0.97421 8.19647 -9.01683 -0.0572232 8.64067 -8.00562 -0.0768255 8.62701 -6.99438 -0.0768255 8.62701 -5.98317 -0.0572232 8.64067 -8.98165 0.844103 9.05693 -7.99368 0.823084 9.04837 -7.00632 0.823084 9.04837 -6.01835 0.844103 9.05693 -8.94588 1.71623 9.48383 -7.9824 1.69522 9.47594 -7.0176 1.69522 9.47594 -6.05412 1.71623 9.48383 -9.04111 -1.42406 8.98032 -8.01373 -1.43722 8.9668 -6.98627 -1.43722 8.9668 -5.95889 -1.42406 8.98032 -9.01291 -0.542455 9.48545 -8.00431 -0.556942 9.47325 -6.99569 -0.556942 9.47325 -5.98709 -0.542455 9.48545 -8.9841 0.328695 9.96687 -7.99492 0.312128 9.95844 -7.00508 0.312128 9.95844 -6.0159 0.328695 9.96687 -8.95593 1.17377 10.4558 -7.98553 1.1572 10.4493 -7.01447 1.1572 10.4493 -6.04407 1.17377 10.4558 -9.03158 -1.92832 9.75495 -8.01054 -1.93772 9.74355 -6.98946 -1.93772 9.74355 -5.96842 -1.92832 9.75495 -9.00908 -1.0785 10.3063 -8.00304 -1.08924 10.2962 -6.99696 -1.08924 10.2962 -5.99092 -1.0785 10.3063 -8.98658 -0.235413 10.8376 -7.99553 -0.248219 10.8306 -7.00447 -0.248219 10.8306 -6.01342 -0.235413 10.8376 -8.9641 0.585373 11.3754 -7.98804 0.572551 11.3696 -7.01196 0.572551 11.3696 -6.0359 0.585373 11.3754 -9.02338 -2.47708 10.5205 -8.00801 -2.48405 10.5112 -6.99199 -2.48405 10.5112 -5.97662 -2.47708 10.5205 -9.00655 -1.65419 11.1062 -8.0024 -1.66185 11.0982 -6.9976 -1.66185 11.0982 -5.99345 -1.65419 11.1062 -8.98909 -0.835013 11.6755 -7.99616 -0.844723 11.6705 -7.00384 -0.844723 11.6705 -6.01091 -0.835013 11.6755 -8.97226 -0.0350535 12.2508 -7.99055 -0.0441462 12.2464 -7.00945 -0.0441462 12.2464 -6.02774 -0.0350535 12.2508 -9.01712 -3.06111 11.2786 -8.0055 -3.06502 11.2714 -6.9945 -3.06502 11.2714 -5.98288 -3.06111 11.2786 -9.00467 -2.25964 11.8893 -8.00177 -2.26488 11.8833 -6.99823 -2.26488 11.8833 -5.99533 -2.25964 11.8893 -8.99162 -1.46021 12.4878 -7.99743 -1.46686 12.4835 -7.00257 -1.46686 12.4835 -6.00838 -1.46021 12.4878 -8.97915 -0.675673 13.0902 -7.99307 -0.682962 13.0872 -7.00693 -0.682962 13.0872 -6.02085 -0.675673 13.0902 -9.01153 -3.67113 12.0321 -8.00364 -3.67327 12.0268 -6.99636 -3.67327 12.0268 -5.98847 -3.67113 12.0321 -9.00284 -2.8863 12.6605 -8.00116 -2.88975 12.6559 -6.99884 -2.88975 12.6559 -5.99716 -2.8863 12.6605 -8.99351 -2.10183 13.2788 -7.99806 -2.10667 13.276 -7.00194 -2.10667 13.276 -6.00649 -2.10183 13.2788 -8.98479 -1.32984 13.9016 -7.99493 -1.33405 13.8993 -7.00507 -1.33405 13.8993 -6.01521 -1.32984 13.9016 -9.00721 -4.30041 12.7824 -8.0024 -4.3014 12.7791 -6.9976 -4.3014 12.7791 -5.99279 -4.30041 12.7824 -9.00163 -3.52748 13.4232 -8.00056 -3.52914 13.4199 -6.99944 -3.52914 13.4199 -5.99837 -3.52748 13.4232 -8.99542 -2.75388 14.056 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00000000..0f8732cb --- /dev/null +++ b/examples/others/hexaBeam/reduced/hexaBeam_gravity/reduced_test.py @@ -0,0 +1,135 @@ +# -*- coding: utf-8 -*- +import os +import Sofa +from numpy import add,subtract,multiply +try: + from splib3.numerics import * +except: + raise ImportError("ModelOrderReduction plugin depend on SPLIB"\ + +"Please install it : https://github.com/SofaDefrost/STLIB") + +path = os.path.dirname(os.path.abspath(__file__)) + +def TRSinOrigin(positions,modelPosition,translation,rotation,scale=[1.0,1.0,1.0]): + posOrigin = subtract(positions , modelPosition) + if any(isinstance(el, list) for el in positions): + posOriginTRS = transformPositions(posOrigin,translation,eulerRotation=rotation,scale=scale) + else: + posOriginTRS = transformPosition(posOrigin,TRS_to_matrix(translation,eulerRotation=rotation,scale=scale)) + return add(posOriginTRS,modelPosition).tolist() + +def newBox(positions,modelPosition,translation,rotation,offset,scale=[1.0,1.0,1.0]): + pos = TRSinOrigin(positions,modelPosition,translation,rotation,scale) + offset =transformPositions([offset],eulerRotation=rotation,scale=scale)[0] + return add(pos,offset).tolist() + +def Reduced_test( + attachedTo=None, + name="Reduced_test", + rotation=[0.0, 0.0, 0.0], + translation=[0.0, 0.0, 0.0], + scale=[1.0, 1.0, 1.0], + surfaceMeshFileName=False, + surfaceColor=[1.0, 1.0, 1.0], + nbrOfModes=2, + hyperReduction=True): + """ + Object with an elastic deformation law. + + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | argument | type | definition | + +=====================+===========+=================================================================================================+ + | attachedTo | Sofa.Node | Where the node is created; | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | name | str | name of the Sofa.Node it will | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | rotation | vec3f | Apply a 3D rotation to the object in Euler angles. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | translation | vec3f | Apply a 3D translation to the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | scale | vec3f | Apply a 3D scale to the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | surfaceMeshFileName | str | Filepath to a surface mesh (STL, OBJ). If missing there is no visual properties to this object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | surfaceColor | vec3f | The default color used for the rendering of the object. | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | nbrOfModes | int | Number of modes we want our reduced model to work with | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + | hyperReduction | Bool | Controlled if we have the simple reduction or the hyper-reduction | + +---------------------+-----------+-------------------------------------------------------------------------------------------------+ + + """ + + modelRoot = attachedTo.addChild(name) + + M1_MOR = modelRoot.addChild('M1_MOR') + M1_MOR.addObject('EulerImplicitSolver' , rayleighStiffness = 0.1, rayleighMass = 0.1) + M1_MOR.addObject('SparseLDLSolver' , name = 'solver') + M1_MOR.addObject('MechanicalObject' , template = 'Vec1d', position = [0]*nbrOfModes) + + + M1 = M1_MOR.addChild('M1') + M1.addObject('MechanicalObject' , name = 'MO') + M1.addObject('UniformMass' , totalMass = 0.1) + M1.addObject('RegularGridTopology' , nx = 4, ny = 4, nz = 20, xmin = -9, xmax = -6, ymin = 0, ymax = 3, zmin = 0, zmax = 19) + M1.addObject('BoxROI' , name= 'ROI1' , orientedBox= newBox([[-9.0, 4.0, -1.0], [-9.0, -2.0, -1.0], [-3.0, -2.0, -1.0]] , [0.0, 0.0, 0.0],translation,rotation,[0, 0, 3.0],scale) + multiply(scale[2],[6.0]).tolist(),drawBoxes=True) + M1.addObject('HyperReducedHexahedronFEMForceField' , name = 'reducedFF_M1_0', youngModulus = 4000, poissonRatio = 0.3, method = 'large', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'\data\modes.txt', RIDPath = path + r'\data\reducedFF_M1_0_RID.txt', weightsPath = path + r'\data\reducedFF_M1_0_weight.txt') + M1.addObject('HyperReducedRestShapeSpringsForceField' , points = '@ROI1.indices', stiffness = 100000000.0, name = 'reducedFF_M1_1', nbModes = nbrOfModes, performECSW = hyperReduction, modesPath = path + r'\data\modes.txt', RIDPath = path + r'\data\reducedFF_M1_1_RID.txt', weightsPath = path + r'\data\reducedFF_M1_1_weight.txt') + M1.addObject('ModelOrderReductionMapping' , input = '@../MechanicalObject', modesPath = path + r'\data\modes.txt', output = '@./MO') + + + visualModel = M1.addChild('visualModel') + visualModel.addObject('OglModel' , name = 'visu', color = 'green') + visualModel.addObject('IdentityMapping' , input = '@..', output = '@visu') + + + actuator = modelRoot.addChild('actuator') + actuator.addObject('MechanicalObject' , name = 'actuatedState', template = 'Vec3d', position = '@M1/MO.position') + + return M1 + + +# STLIB IMPORT +from stlib3.scene import MainHeader +def createScene(rootNode): + surfaceMeshFileName = False + + MainHeader(rootNode,plugins=["SoftRobots","ModelOrderReduction"], + dt=0.02, + gravity=[0.0, -9810.0, 0.0]) + rootNode.VisualStyle.displayFlags="showForceFields" + + Reduced_test(rootNode, + name="Reduced_test", + surfaceMeshFileName=surfaceMeshFileName) + + # translate = 300 + # rotationBlue = 60.0 + # rotationWhite = 80 + # rotationRed = 70 + + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_blue_"+str(i), + # rotation=[rotationBlue*i, 0.0, 0.0], + # translation=[i*translate, 0.0, 0.0], + # surfaceColor=[0.0, 0.0, 1, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_white_"+str(i), + # rotation=[0.0, rotationWhite*i, 0.0], + # translation=[i*translate, translate, -translate], + # surfaceColor=[0.5, 0.5, 0.5, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) + + # for i in range(3): + + # Reduced_test(rootNode, + # name="Reduced_test_red_"+str(i), + # rotation=[0.0, 0.0, i*rotationRed], + # translation=[i*translate, 2*translate, -2*translate], + # surfaceColor=[1, 0.0, 0.0, 0.5], + # surfaceMeshFileName=surfaceMeshFileName) From 40e35db877c1c969d53799d36b221bd2d8a4776a Mon Sep 17 00:00:00 2001 From: rmolazem Date: Mon, 17 Jun 2024 16:23:17 +0200 Subject: [PATCH 7/8] Remove files of listActiveNodes. --- .../hexaBeam_gravity/data/listActiveNodes.txt | 24 ------------------- .../data/reducedFF_M1_0_listActiveNodes.txt | 24 ------------------- .../data/reducedFF_M1_1_listActiveNodes.txt | 0 3 files changed, 48 deletions(-) delete mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt delete mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_listActiveNodes.txt delete mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_listActiveNodes.txt diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt deleted file mode 100644 index cff9629c..00000000 --- a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/listActiveNodes.txt +++ /dev/null @@ -1,24 +0,0 @@ -88 -89 -92 -93 -104 -105 -108 -109 -192 -193 -196 -197 -200 -201 -204 -205 -208 -209 -212 -213 -216 -217 -220 -221 diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_listActiveNodes.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_listActiveNodes.txt deleted file mode 100644 index cff9629c..00000000 --- a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_0_listActiveNodes.txt +++ /dev/null @@ -1,24 +0,0 @@ -88 -89 -92 -93 -104 -105 -108 -109 -192 -193 -196 -197 -200 -201 -204 -205 -208 -209 -212 -213 -216 -217 -220 -221 diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_listActiveNodes.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/data/reducedFF_M1_1_listActiveNodes.txt deleted file mode 100644 index e69de29b..00000000 From 7f6fbd3402660af990da20a430c9a4330daf9642 Mon Sep 17 00:00:00 2001 From: rmolazem Date: Mon, 17 Jun 2024 16:25:34 +0200 Subject: [PATCH 8/8] Remove Gie files. --- .../debug/reducedFF_M1_0_Gie.txt | 20 ------------------- .../debug/reducedFF_M1_1_Gie.txt | 20 ------------------- 2 files changed, 40 deletions(-) delete mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt delete mode 100644 examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_1_Gie.txt diff --git a/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt b/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt deleted file mode 100644 index 383ee390..00000000 --- a/examples/others/hexaBeam/reduced/hexaBeam_gravity/debug/reducedFF_M1_0_Gie.txt +++ /dev/null @@ -1,20 +0,0 @@ -0 0 0 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