RuleBasedContactManager
Create different response to the collisions based on a set of rules.
Target: Sofa.Component.Collision.Response.Contact
namespace: sofa::component::collision::response::contact
parents:
- CollisionResponse
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object 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 |
| response | contact response class | |
| responseParams | contact response parameters (syntax: name1=value1&name2=value2&...) | |
| variables | Define a list of variables to be used inside the rules | |
| rules | Ordered list of rules, each with a triplet of strings. The first two define either the name of the collision model, its group number, or * meaning any model. The last string define the response algorithm to use for contacts matched by this rule. Rules are applied in the order they are specified. If none match a given contact, the default response is used. |
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 |
Examples
RuleBasedContactManager.scn
<?xml version="1.0"?>
<!-- Mechanical RuleBasedContactManager Example -->
<Node name="root" dt="0.01">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [RuleBasedContactManager] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<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.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showBehaviorModels showVisual" />
<FreeMotionAnimationLoop />
<GenericConstraintSolver maxIterations="1000" tolerance="0.001"/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="1.5" contactDistance="1.0" angleCone="0.0" />
<RuleBasedContactManager name="Response" response="FrictionContactConstraint" rules="default"/>
<Node name="Torus1">
<MeshOBJLoader filename="mesh/torus2_for_collision.obj" name="loader" />
<MeshTopology src="@loader"/>
<MechanicalObject src="@loader" scale="5.0" />
<TriangleCollisionModel simulated="0" moving="0" name="Torus1Triangle" group="1" />
<LineCollisionModel simulated="0" moving="0" name="Torus1Line" group="1" />
<PointCollisionModel simulated="0" moving="0" name="Torus1Point" group="1" />
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="0.5 0.5 0.5 1.0" />
</Node>
<Node name="Torus2">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject template="Rigid3" scale="5.0" dx="-12" dy="0" />
<UniformMass filename="BehaviorModels/torus.rigid"/>
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="0.0 0.5 0.5 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader filename="mesh/torus_for_collision.obj" name="loader" />
<MeshTopology src="@loader"/>
<MechanicalObject src="@loader" scale="5.0" />
<TriangleCollisionModel name="Torus2Triangle" group="2" />
<LineCollisionModel name="Torus2Line" group="2" />
<PointCollisionModel name="Torus2Point" group="2" />
<RigidMapping />
</Node>
</Node>
<Node name="Torus3">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject template="Rigid3" scale="5.0" dx="-25" dy="0" />
<UniformMass filename="BehaviorModels/torus2.rigid"/>
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="1.0 0.5 0.25 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader filename="mesh/torus2_for_collision.obj" name="loader" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="5.0" />
<TriangleCollisionModel name="Torus3Triangle" group="3" />
<LineCollisionModel name="Torus3Line" group="3" />
<PointCollisionModel name="Torus3Point" group="3" />
<RigidMapping />
</Node>
</Node>
<Node name="Torus4">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject template="Rigid3" scale="5.0" dx="-38" dy="0" />
<UniformMass filename="BehaviorModels/torus.rigid"/>
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="0.0 0.5 0.5 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader filename="mesh/torus_for_collision.obj" name="loader" />
<MeshTopology src="@loader"/>
<MechanicalObject src="@loader" scale="5.0" />
<TriangleCollisionModel name="Torus4Triangle" group="4" />
<LineCollisionModel name="Torus4Line" group="4" />
<PointCollisionModel name="Torus4Point" group="4" />
<RigidMapping />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
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.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
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.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', maxIterations="1000", tolerance="0.001")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="1.5", contactDistance="1.0", angleCone="0.0")
root.addObject('RuleBasedContactManager', name="Response", response="FrictionContactConstraint", rules="default")
torus1 = root.addChild('Torus1')
torus1.addObject('MeshOBJLoader', filename="mesh/torus2_for_collision.obj", name="loader")
torus1.addObject('MeshTopology', src="@loader")
torus1.addObject('MechanicalObject', src="@loader", scale="5.0")
torus1.addObject('TriangleCollisionModel', simulated="0", moving="0", name="Torus1Triangle", group="1")
torus1.addObject('LineCollisionModel', simulated="0", moving="0", name="Torus1Line", group="1")
torus1.addObject('PointCollisionModel', simulated="0", moving="0", name="Torus1Point", group="1")
torus1.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", scale="5.0", handleSeams="1")
torus1.addObject('OglModel', name="Visual", src="@meshLoader_2", color="0.5 0.5 0.5 1.0")
torus2 = root.addChild('Torus2')
torus2.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus2.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")
torus2.addObject('MechanicalObject', template="Rigid3", scale="5.0", dx="-12", dy="0")
torus2.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
torus2.addObject('UncoupledConstraintCorrection', )
visu = Torus2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", scale="5.0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="0.0 0.5 0.5 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = Torus2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', filename="mesh/torus_for_collision.obj", name="loader")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", scale="5.0")
surf2.addObject('TriangleCollisionModel', name="Torus2Triangle", group="2")
surf2.addObject('LineCollisionModel', name="Torus2Line", group="2")
surf2.addObject('PointCollisionModel', name="Torus2Point", group="2")
surf2.addObject('RigidMapping', )
torus3 = root.addChild('Torus3')
torus3.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus3.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")
torus3.addObject('MechanicalObject', template="Rigid3", scale="5.0", dx="-25", dy="0")
torus3.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")
torus3.addObject('UncoupledConstraintCorrection', )
visu = Torus3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", scale="5.0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="1.0 0.5 0.25 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = Torus3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', filename="mesh/torus2_for_collision.obj", name="loader")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", scale="5.0")
surf2.addObject('TriangleCollisionModel', name="Torus3Triangle", group="3")
surf2.addObject('LineCollisionModel', name="Torus3Line", group="3")
surf2.addObject('PointCollisionModel', name="Torus3Point", group="3")
surf2.addObject('RigidMapping', )
torus4 = root.addChild('Torus4')
torus4.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus4.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")
torus4.addObject('MechanicalObject', template="Rigid3", scale="5.0", dx="-38", dy="0")
torus4.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
torus4.addObject('UncoupledConstraintCorrection', )
visu = Torus4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", scale="5.0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="0.0 0.5 0.5 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = Torus4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', filename="mesh/torus_for_collision.obj", name="loader")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", scale="5.0")
surf2.addObject('TriangleCollisionModel', name="Torus4Triangle", group="4")
surf2.addObject('LineCollisionModel', name="Torus4Line", group="4")
surf2.addObject('PointCollisionModel', name="Torus4Point", group="4")
surf2.addObject('RigidMapping', )