One of the greatest things about MITK Simulation is, that it is transparent to SOFA, which means, that it kind of *is* SOFA, with additional functionality on top. There's (nearly) nothing special you need to know and if it doesn't work in MITK SImulation, that usually means that it doesn't work in plane SOFA either. From another view: You don't have to care about MITK's reinit stuff or anything like that when writing your simulations.*
The SOFA guys used (and are using) C++ for many years, until they switched to Python rather recently as it seems. So they have lots of experience even with the C++-API. Trust them. :-) Did you try the suggestion of Hugo? Of course you need to update the SOFA scene after your modifications, which is an intrinsic requirement of any simulation software. But beware, other than for initialization before the very first simulation step, it's not a good idea to manually transform any simulated object in the scene. This way you completely bypass the simulation and you may introduce infinite forces to your scene as it appears to the simulation that you moved the object infinitely fast. If you want to know how to update your simulation in C++, just have a look at the code behind the step button of the simulation plugin. * There's this one exception: To get SOFA visuals working and behaving nicely in the context of VTK, we had to use SOFA's factory mechanism to inject our own VisualModel/OglModel replacement class instead of the standard SOFA ones (see [1]). They are kind of identical, but it might be necessary to know the difference when it comes to casting of course. In contrast to Hugo's suggestion, you want to cast to VtkModel instead of VisualModel/OglModel. So remember, every VisualModel/OglModel in your scene will be instantiated in MITK Simulation as a VtkModel instead. All of these classes derive from VisualModelImpl so if this superclass provides everything you need, you can also just cast to VisualModelImpl to stay super compatible with standalone SOFA. If I remember correctly, you can also check the type of objects in your scene in the scene graph of the MITK Simulation plugin. BTW there's also a great hidden feature in the scene graph of the MITK Simulation plugin. You can right-click a "visual model" to open a context menu, which allows you to indirectly render into a mitk::Surface instead (it even shows up in the Data Manager). This way you have a great bridge between a MITK scene and the contained SOFA scene. [1] https://github.com/MITK/MITK/blob/v2016.03.0/Modules/Simulation/mitkSimulationObjectFactory.cpp#L51-L52 ________________________________ Von: Albert Alises <ironicpsy...@gmail.com> Gesendet: Donnerstag, 24. November 2016 11:56 An: Kislinskiy, Stefan Cc: mitk-users@lists.sourceforge.net Betreff: Re: [mitk-users] [SOFA] Modify fields of a node component (such as translation/rotation) from C++ API. Hello Stefan, I already asked on the SOFA Forum https://www.sofa-framework.org/community/forum/topic/modify-fields-of-a-node-components-such-as-translationrotation-from-c-api/#post-7972 However, I am still stuck with the question, as seemingly the C++ API of SOFA is not used a lot, and also I do not know how the integration with MITK works (e.g do i have to reinit the scene node for any modification to happen?). I believe it is a problem with the references or casting, but I get quite lost on the API of SOFA with C++.... Best Regards, Albert. 2016-11-24 8:26 GMT+01:00 Kislinskiy, Stefan <s.kislins...@dkfz-heidelberg.de<mailto:s.kislins...@dkfz-heidelberg.de>>: Hi Albert, for questions related to pure SOFA, I highly recommend to ask in the official SOFA forum instead: https://www.sofa-framework.org/community/forum/section/user-forum/developing-in-sofa/ Best, Stefan? ________________________________ Von: Albert Alises <ironicpsy...@gmail.com<mailto:ironicpsy...@gmail.com>> Gesendet: Mittwoch, 23. November 2016 10:56 An: mitk-users@lists.sourceforge.net<mailto:mitk-users@lists.sourceforge.net> Betreff: [mitk-users] [SOFA] Modify fields of a node component (such as translation/rotation) from C++ API. Hello, I have a problem related to the way we access the scene and nodes information via the C++ API of SOFA (from MITK). I have a simulation node, sofa::simulation::Simulation simnode; Based on that object, I want to access a specific node component of this simulation, that is an OglModel (a mesh loaded from an stl). What I want to do is modify the translation and rotation properties of this node. That can be done on the xml file defining the scene as: <OglModel template="ExtVec3f" name="oglModel6? translation="100 0 100? .. However, as I am using MITK integrated with sofa, I need a way to access and modify the scene using the C++ API, not the xml. Is there a way I can get the OglModel object and add/modify fields to it from the sofa::simulation::Simulation class? I get to the point where I get the SOFASimulation object from the mitk::Simulation one. SOFASimulation = simulation->GetSOFASimulation(); Then I get a child node and try to get the mesh object and cast it to a VisualModel which has an applyTranslation method. However this does not seem to work, what I want to do is setup the scene moving the mesh (not on simulation runtime) sofa::simulation::Node::SPtr ImplantNode = SOFASimulation->GetRoot()->GetChild("Implant"); sofa::core::objectmodel::BaseObject *object = ImplantNode->getObject("oglModel6"); sofa::core::visual::VisualModel* visualModel = dynamic_cast<sofa::core::visual::VisualObject*>(object); visualModel->applyTranslation(100,0,100); Is it a casting problem, reference ... I do not know how to modify the initial placement of the objects of the scene, and the SOFA C++ API does not provide any examples that I have seen. Thank You, Albert. Thank you very much, Cordially, Albert. ------------------------------------------------------------------------------ _______________________________________________ mitk-users mailing list mitk-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/mitk-users
