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 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
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

XMLPython

<?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', )