[stlib] minor changes from discussion

sofa-framework · damienmarchal · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025 · Apr 14, 2025
commit 01531ca5de7792e8973f23e58a0e5cd20ff127b4
diff --git a/stlib/geometry/extract.py b/stlib/geometry/extract.py
@@ -29,6 +29,7 @@ def generateAttribute(self, parent : Geometry):
         tmn = parent.addChild("TopologicalMappingNode")
 
         #TODO: Specify somewhere in the doc that this should only be used for mapped topologies that extract parent topology surface
+
         fromLink = parent.parents[0].parents[0].getChild(self.fromNodeName).container.linkpath
         addDynamicTopology(tmn, type=self.destElementType)
         if self.fromElementType == ElementType.TETRAHEDRONS:
@@ -47,13 +48,13 @@ def generateAttribute(self, parent : Geometry):
 
 class ExtractParameters(GeometryParameters):
     def __init__(self, 
-                 fromGeometry : GeometryParameters, 
-                 destElementType : ElementType,  
+                 sourceParameters : GeometryParameters, 
+                 destinationType : ElementType,  
                  dynamicTopology = False, ):
         GeometryParameters.__init__(self,
-                                    data = ExtractInternalDataProvider(destElementType = destElementType, 
-                                                                       fromElementType = fromGeometry.elementType,
-                                                                       fromNodeName = fromGeometry.name), 
+                                    data = ExtractInternalDataProvider(destElementType = sourceParameters, 
+                                                                       fromElementType = destinationType,
+                                                                       fromNodeName = destinationType.name), 
                                     dynamicTopology = dynamicTopology, 
-                                    elementType = destElementType)
+                                    elementType = destinationType)
 
diff --git a/stlib/prefabs/collision.py b/stlib/prefabs/collision.py
@@ -46,10 +46,16 @@ def createScene(root):
 
     # Create a visual from a mesh file
     params = Collision.getParameters()
+    params.group = 1
     params.geometry = FileParameters(filename="mesh/cube.obj")
     # Expert parameters
     params.kwargs = {
-                        "contactStiffness": 100.0,
-                        "contactFriction": 0.5
+                        "TriangleCollisionModel":{"contactStiffness": 100.0, "contactFriction": 0.5}
                     }
-    root.add(Collision, params)
+    collision = root.add(Collision, params)
+
+    # OR set the parameters post creation
+    collision.TriangleCollisionModel.contactStiffness = 100.0
+    collision.TriangleCollisionModel.contactFriction = 0.5
+    collision.TriangleCollisionModel.set(contactStiffness=100.0, contactFriction=0.5) # we have information of what is possible
+    collision.TriangleCollisionModel.set({"contactStiffness": 100.0, "contactFriction": 0.5}) # we can do n'importe quoi 
diff --git a/stlib/prefabs/visual.py b/stlib/prefabs/visual.py
@@ -39,10 +39,9 @@ def createScene(root):
     params.geometry = FileParameters(filename="mesh/cube.obj")
     root.add(Visual, params)
 
-
-    # Create a visual from a mesh file
+    # # Create a visual from a node 
     # params = Visual.getParameters()  
     # params.name = "ExtractedVisual"
-    # params.geometry = ExtractParameters(fromGeometry=FileParameters(filename="mesh/cube.vtk"), 
-    #                                     destElementType=ElementType.TRIANGLES)
+    # params.geometry = ExtractParameters(sourceParameters=FileParameters(filename="mesh/cube.vtk"), 
+    #                                     destinationType=ElementType.TRIANGLES)
     # root.add(Visual, params)