/usr/share/sofa/tutorials/oneTetrahedron/Main.cpp is in sofa-tutorials 1.0~beta4-12.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the Free *
* Software Foundation; either version 2 of the License, or (at your option) *
* any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, write to the Free Software Foundation, Inc., 51 *
* Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. *
*******************************************************************************
* SOFA :: Applications *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <iostream>
#include <fstream>
#include <sofa/helper/ArgumentParser.h>
#include <sofa/simulation/tree/TreeSimulation.h>
#include <sofa/component/contextobject/Gravity.h>
#include <sofa/component/contextobject/CoordinateSystem.h>
#include <sofa/core/objectmodel/Context.h>
#include <sofa/component/odesolver/CGImplicitSolver.h>
#include <sofa/helper/system/FileRepository.h>
#include <sofa/gui/SofaGUI.h>
#include <sofa/component/typedef/Sofa_typedef.h>
#include <sofa/helper/system/glut.h>
using namespace sofa::simulation::tree;
using sofa::simulation::Node;
using sofa::component::odesolver::CGImplicitSolver;
using sofa::component::topology::MeshTopology;
using sofa::component::visualmodel::OglModel;
// ---------------------------------------------------------------------
// ---
// ---------------------------------------------------------------------
int main(int argc, char** argv)
{
glutInit(&argc,argv);
sofa::helper::parse("This is a SOFA application.")
(argc,argv);
sofa::gui::SofaGUI::Init(argv[0]);
// The graph root node : gravity already exists in a GNode by default
GNode* groot = new GNode;
groot->setName( "root" );
groot->setGravityInWorld( Coord3(0,-10,0) );
// One solver for all the graph
CGImplicitSolver* solver = new CGImplicitSolver;
solver->f_printLog.setValue(false);
groot->addObject(solver);
// Tetrahedron degrees of freedom
MechanicalObject3* DOF = new MechanicalObject3;
groot->addObject(DOF);
DOF->resize(4);
DOF->setName("DOF");
VecCoord3& x = *DOF->getX();
x[0] = Coord3(0,10,0);
x[1] = Coord3(10,0,0);
x[2] = Coord3(-10*0.5,0,10*0.866);
x[3] = Coord3(-10*0.5,0,-10*0.866);
// Tetrahedron uniform mass
UniformMass3* mass = new UniformMass3;
groot->addObject(mass);
mass->setMass(2);
mass->setName("mass");
// Tetrahedron topology
MeshTopology* topology = new MeshTopology;
topology->setName("mesh topology");
groot->addObject( topology );
topology->addTetra(0,1,2,3);
// Tetrahedron constraints
FixedConstraint3* constraints = new FixedConstraint3;
constraints->setName("constraints");
groot->addObject(constraints);
constraints->addConstraint(0);
// Tetrahedron force field
TetrahedronFEMForceField3* fem = new TetrahedronFEMForceField3;
fem->setName("FEM");
groot->addObject(fem);
fem->setMethod("polar");
fem->setUpdateStiffnessMatrix(true);
fem->setYoungModulus(6);
// Tetrahedron skin
GNode* skin = new GNode("skin",groot);;
// The visual model
OglModel* visual = new OglModel();
visual->setName( "visual" );
visual->load(sofa::helper::system::DataRepository.getFile("mesh/liver-smooth.obj"), "", "");
visual->setColor("red");
visual->applyScale(0.7);
visual->applyTranslation(1.2, 0.8, 0);
skin->addObject(visual);
// The mapping between the tetrahedron (DOF) and the liver (visual)
BarycentricMapping3_to_Ext3* mapping = new BarycentricMapping3_to_Ext3(DOF, visual);
mapping->setName( "mapping" );
skin->addObject(mapping);
// Init the scene
getSimulation()->init(groot);
groot->setAnimate(false);
groot->setShowNormals(false);
groot->setShowInteractionForceFields(false);
groot->setShowMechanicalMappings(false);
groot->setShowCollisionModels(false);
groot->setShowBoundingCollisionModels(false);
groot->setShowMappings(false);
groot->setShowForceFields(true);
groot->setShowWireFrame(true);
groot->setShowVisualModels(true);
//=======================================
// Run the main loop
sofa::gui::SofaGUI::MainLoop(groot);
return 0;
}
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