SlidingLagrangianConstraint
Lagrangian-based partial fixation of DOFs of the model, along an axis.
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.Constraint.Lagrangian.Model
namespace: sofa::component::constraint::lagrangian::model
parents:
- PairInteractionConstraint
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 |
| group | ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. | 0 |
| constraintIndex | Constraint index (first index in the right hand term resolution vector) | 0 |
| endTime | The constraint stops acting after the given value. Use a negative value for infinite constraints | -1 |
| sliding_point | index of the spliding point on the first model | 0 |
| axis_1 | index of one end of the sliding axis | 0 |
| axis_2 | index of the other end of the sliding axis | 0 |
| force | force (impulse) used to solve the constraint |
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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| object1 | First object associated to this component | MechanicalState<Vec3d> |
| object2 | Second object associated to this component | MechanicalState<Vec3d> |
Examples
SlidingLagrangianConstraint.scn
<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">
<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 [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [SlidingLagrangianConstraint] -->
<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="showForceFields showVisual showBehavior" />
<FreeMotionAnimationLoop />
<GenericConstraintSolver maxIterations="1000" tolerance="0.001"/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />
<Node name="SlidingPoint">
<MechanicalObject name="points" template="Vec3" position="1 1.25 -0.2 	1 1.25 0.2" free_position="1 1.25 -0.2 	1 1.25 0.2" />
</Node>
<Node name="CUBE_1">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="0" dz="0.0" />
<UniformMass totalMass="10.0" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name='myLoader1' filename='mesh/cube.obj'/>
<OglModel name="Visual1" src='@myLoader1' color="1 1 0 1.0" />
<RigidMapping input="@.." output="@Visual1" />
</Node>
<Node name="ColliCube">
<MeshTopology filename="mesh/cube.obj" />
<MechanicalObject scale="1.0" />
<TriangleCollisionModel contactStiffness="0.1" />
<LineCollisionModel contactStiffness="0.1" />
<PointCollisionModel contactStiffness="0.1" />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1	1 1.25 -1	0 0 0" />
<RigidMapping />
</Node>
</Node>
<SlidingLagrangianConstraint name="constraint1" object1="@SlidingPoint/points" object2="@CUBE_1/Constraints/points" sliding_point="0" axis_1="0" axis_2="1" />
<Node name="Line">
<MechanicalObject name="points" template="Vec3" position="6 1.25 1	6 1.25 -1" free_position="6 1.25 1	6 1.25 -1" />
</Node>
<Node name="CUBE_2">
<EulerImplicitSolver printLog="false" />
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="5.0" dy="0" dz="0.0" />
<UniformMass totalMass="10.0" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name='myLoader2' filename='mesh/cube.obj'/>
<OglModel name="Visual2" src='@myLoader2' color="1 1 0 1.0" />
<RigidMapping input="@.." output="@Visual2" />
</Node>
<Node name="ColliCube">
<MeshTopology filename="mesh/cube.obj" />
<MechanicalObject scale="1.0" />
<TriangleCollisionModel contactStiffness="0.1" />
<LineCollisionModel contactStiffness="0.1" />
<PointCollisionModel contactStiffness="0.1" />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1" />
<RigidMapping />
</Node>
</Node>
<SlidingLagrangianConstraint name="constraint2" object1="@CUBE_2/Constraints/points" object2="@Line/points" sliding_point="0" axis_1="0" axis_2="1" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 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.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
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="showForceFields showVisual showBehavior")
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="0.2", contactDistance="0.09", angleCone="0.0")
root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
sliding_point = root.addChild('SlidingPoint')
sliding_point.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 -0.2 1 1.25 0.2", free_position="1 1.25 -0.2 1 1.25 0.2")
cube_1 = root.addChild('CUBE_1')
cube_1.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_1.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_1.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="0", dz="0.0")
cube_1.addObject('UniformMass', totalMass="10.0")
cube_1.addObject('UncoupledConstraintCorrection', )
visu = CUBE_1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="myLoader1", filename="mesh/cube.obj")
visu.addObject('OglModel', name="Visual1", src="@myLoader1", color="1 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual1")
colli_cube = CUBE_1.addChild('ColliCube')
colli_cube.addObject('MeshTopology', filename="mesh/cube.obj")
colli_cube.addObject('MechanicalObject', scale="1.0")
colli_cube.addObject('TriangleCollisionModel', contactStiffness="0.1")
colli_cube.addObject('LineCollisionModel', contactStiffness="0.1")
colli_cube.addObject('PointCollisionModel', contactStiffness="0.1")
colli_cube.addObject('RigidMapping', )
constraints = CUBE_1.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1 1 1.25 -1 0 0 0")
constraints.addObject('RigidMapping', )
root.addObject('SlidingLagrangianConstraint', name="constraint1", object1="@SlidingPoint/points", object2="@CUBE_1/Constraints/points", sliding_point="0", axis_1="0", axis_2="1")
line = root.addChild('Line')
line.addObject('MechanicalObject', name="points", template="Vec3", position="6 1.25 1 6 1.25 -1", free_position="6 1.25 1 6 1.25 -1")
cube_2 = root.addChild('CUBE_2')
cube_2.addObject('EulerImplicitSolver', printLog="false")
cube_2.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_2.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="5.0", dy="0", dz="0.0")
cube_2.addObject('UniformMass', totalMass="10.0")
cube_2.addObject('UncoupledConstraintCorrection', )
visu = CUBE_2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="myLoader2", filename="mesh/cube.obj")
visu.addObject('OglModel', name="Visual2", src="@myLoader2", color="1 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual2")
colli_cube = CUBE_2.addChild('ColliCube')
colli_cube.addObject('MeshTopology', filename="mesh/cube.obj")
colli_cube.addObject('MechanicalObject', scale="1.0")
colli_cube.addObject('TriangleCollisionModel', contactStiffness="0.1")
colli_cube.addObject('LineCollisionModel', contactStiffness="0.1")
colli_cube.addObject('PointCollisionModel', contactStiffness="0.1")
colli_cube.addObject('RigidMapping', )
constraints = CUBE_2.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1")
constraints.addObject('RigidMapping', )
root.addObject('SlidingLagrangianConstraint', name="constraint2", object1="@CUBE_2/Constraints/points", object2="@Line/points", sliding_point="0", axis_1="0", axis_2="1")