Finished collisions

Author: bakpaul

splib/core/enum_types.py

@@ -23,7 +23,11 @@ class ConstraintType(Enum):
     WEAK       = 2
     LAGRANGIAN = 3
 
-
+class CollisionPrimitive(Enum):
+    POINTS      = 1
+    LINES       = 2
+    TRIANGLES   = 3
+    SPHERES     = 4
 
 class ElementType(Enum):
     POINTS      = 1

splib/mechanics/collision_model.py

@@ -1,18 +1,27 @@
 from splib.core.node_wrapper import ReusableMethod
 from splib.core.utils import DEFAULT_VALUE
-from splib.core.enum_types import ElementType
+from splib.core.enum_types import CollisionPrimitive
 
 
 
 @ReusableMethod
-def addCollisionModels(node,points=False, edges=False,triangles=False, spheres=False,tetrahedron=False,selfCollision=DEFAULT_VALUE, proximity=DEFAULT_VALUE, group=DEFAULT_VALUE, contactStiffness=DEFAULT_VALUE, contactFriction=DEFAULT_VALUE,spheresRadius=DEFAULT_VALUE,**kwargs):
-    if(points):
-        node.addObject("PointCollisionModel",name="PointCollision", selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, **kwargs)
-    if(edges):
-        node.addObject("LineCollisionModel",name="EdgeCollision", selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
-    if(triangles):
-        node.addObject("TriangleCollisionModel",name="TriangleCollision", selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
-    if(spheres):
-        node.addObject("SphereCollisionModel",name="SphereCollision", selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, radius=spheresRadius, **kwargs)
-    if(tetrahedron):
-        node.addObject("TetrahedronCollisionModel",name="TetraCollision", selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
+def addCollisionModels(node, primitive : CollisionPrimitive, topology=DEFAULT_VALUE, selfCollision=DEFAULT_VALUE, proximity=DEFAULT_VALUE, group=DEFAULT_VALUE, contactStiffness=DEFAULT_VALUE, contactFriction=DEFAULT_VALUE,spheresRadius=DEFAULT_VALUE,**kwargs):
+    match primitive:
+        case CollisionPrimitive.POINTS:
+            node.addObject("PointCollisionModel",name="PointCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, **kwargs)
+            return
+        case CollisionPrimitive.LINES:
+            node.addObject("LineCollisionModel",name="EdgeCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
+            return
+        case CollisionPrimitive.TRIANGLES:
+            node.addObject("TriangleCollisionModel",name="TriangleCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group,**kwargs)
+            return
+        case CollisionPrimitive.SPHERES:
+            node.addObject("SphereCollisionModel",name="SphereCollision", topology=topology, selfCollision=selfCollision, proximity=proximity, contactStiffness=contactStiffness, contactFriction=contactFriction, group=group, radius=spheresRadius, **kwargs)
+            return
+        case _:
+            return
+        
+        #Cube and tetra are missing. 
+            
+    

stlib/prefabs/collision.py

@@ -1,18 +1,56 @@
 from stlib.core.basePrefab import BasePrefab
 from stlib.core.baseParameters import BaseParameters, Callable, Optional, dataclasses, Any
-from stlib.geometry import GeometryParameters
+from stlib.geometry import Geometry, GeometryParameters
+from stlib.geometry.file import FileParameters
+from splib.core.enum_types import CollisionPrimitive
+from splib.core.utils import DEFAULT_VALUE
+from splib.mechanics.collision_model import addCollisionModels
 from Sofa.Core import Object 
 
 @dataclasses.dataclass
 class CollisionParameters(BaseParameters):
-    primitives : list[Any] #TODO: add enum type in splib
+    primitives : list[CollisionPrimitive] = dataclasses.field(default_factory = lambda :[CollisionPrimitive.POINTS])
 
-    geometry : GeometryParameters
-    addMapping : Callable
+    selfCollision : Optional[bool] = DEFAULT_VALUE
+    proximity : Optional[float] = DEFAULT_VALUE
+    group : Optional[int] = DEFAULT_VALUE
+    contactStiffness : Optional[float] = DEFAULT_VALUE
+    contactFriction : Optional[float] = DEFAULT_VALUE
+    spheresRadius : Optional[float] = DEFAULT_VALUE
 
+    geometry : GeometryParameters = dataclasses.field(default_factory = lambda : GeometryParameters())
+    addMapping : Optional[Callable] = None
 
-class Collision(BasePrefab):
 
-    def __init__(self, params: GeometryParameters):
+class Collision(BasePrefab):
+    def __init__(self, params: CollisionParameters):
         BasePrefab.__init__(self, params)
 
+        geom = self.add(Geometry, params.geometry)
+        
+        self.addObject("MechanicalObject",template="Vec3", position=f"@{params.geometry.name}/container.position")
+        for primitive in params.primitives:
+            addCollisionModels(self,primitive,
+                               topology=f"@{params.geometry.name}/container",
+                               selfCollision=params.selfCollision, 
+                               proximity=params.proximity, 
+                               group=params.group, 
+                               contactStiffness=params.contactStiffness, 
+                               contactFriction=params.contactFriction,
+                               spheresRadius=params.spheresRadius, 
+                               **params.kwargs)
+            
+        if params.addMapping is not None:
+            params.addMapping(self)
+
+    @staticmethod
+    def getParameters(**kwargs) -> CollisionParameters:
+        return CollisionParameters(**kwargs)
+
+
+def createScene(root):
+
+    # Create a visual from a mesh file
+    params = Collision.getParameters()
+    params.geometry = FileParameters(filename="mesh/cube.obj")
+    root.add(Collision, params)

stlib/prefabs/visual.py

@@ -14,9 +14,6 @@ class VisualParameters(BaseParameters):
 
 
 class Visual(BasePrefab):
-    container :  Object # This should be more specialized into the right SOFA type
-    modifier : Optional[Object]
-
     def __init__(self, params: VisualParameters):
         BasePrefab.__init__(self, params)