MultiStepAnimationLoop
This component belongs to the category of AnimationLoop.
The MultiStepAnimationLoop derives from the DefaultAnimationLoop. This animation loop is different due to the fact that it allows - at each iteration - for running several collision (collisionSteps), and within each of these collision steps, several integration sub-steps can be computed (integrationSteps).
Usage
The MultiStepAnimationLoop has no pre-requisite.
Note that this MultiStepAnimationLoop does not handle constraints solved using Lagrange multipliers.
Multi steps animation loop, multi integration steps in a single animation step are managed.
Target: Sofa.Component.AnimationLoop
namespace: sofa::component::animationloop
parents:
- BaseAnimationLoop
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| computeBoundingBox | If true, compute the global bounding box of the scene at each time step. Used mostly for rendering. | 1 |
| collisionSteps | number of collision steps between each frame rendering | 1 |
| integrationSteps | number of integration steps between each collision detection | 1 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| targetNode | Link to the scene's node that will be processed by the loop | BaseNode |
Examples
MultiStepAnimationLoop.scn
<?xml version="1.0" ?>
<Node name="root" dt="1.0">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [MultiStepAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<MultiStepAnimationLoop collisionSteps="10" integrationSteps="2" />
<Node name="ChainRigid">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="gray" />
</Node>
<Node name="TorusRigid-1">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
<MechanicalObject template="Rigid3" dx="2.5" />
<UniformMass totalMass="1.0"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid-2">
<EulerImplicitSolver />
<CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
<MechanicalObject template="Rigid3" dx="5" />
<UniformMass totalMass="1.0"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid-3">
<EulerImplicitSolver />
<CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
<MechanicalObject template="Rigid3" dx="7.5" />
<UniformMass totalMass="1.0"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid-4">
<EulerImplicitSolver />
<CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
<MechanicalObject template="Rigid3" dx="10" />
<UniformMass totalMass="1.0"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<RigidMapping />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="1.0")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
root.addObject('MultiStepAnimationLoop', collisionSteps="10", integrationSteps="2")
chain_rigid = root.addChild('ChainRigid')
torus_fixed = ChainRigid.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_4", color="gray")
torus_rigid_1 = ChainRigid.addChild('TorusRigid-1')
torus_rigid_1.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus_rigid_1.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
torus_rigid_1.addObject('MechanicalObject', template="Rigid3", dx="2.5")
torus_rigid_1.addObject('UniformMass', totalMass="1.0")
visu = TorusRigid-1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid-1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid_2 = ChainRigid.addChild('TorusRigid-2')
torus_rigid_2.addObject('EulerImplicitSolver', )
torus_rigid_2.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
torus_rigid_2.addObject('MechanicalObject', template="Rigid3", dx="5")
torus_rigid_2.addObject('UniformMass', totalMass="1.0")
visu = TorusRigid-2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid-2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid_3 = ChainRigid.addChild('TorusRigid-3')
torus_rigid_3.addObject('EulerImplicitSolver', )
torus_rigid_3.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
torus_rigid_3.addObject('MechanicalObject', template="Rigid3", dx="7.5")
torus_rigid_3.addObject('UniformMass', totalMass="1.0")
visu = TorusRigid-3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid-3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid_4 = ChainRigid.addChild('TorusRigid-4')
torus_rigid_4.addObject('EulerImplicitSolver', )
torus_rigid_4.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
torus_rigid_4.addObject('MechanicalObject', template="Rigid3", dx="10")
torus_rigid_4.addObject('UniformMass', totalMass="1.0")
visu = TorusRigid-4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid-4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('RigidMapping', )