AffineMovementProjectiveConstraint
Constraint the movement by a rigid transform.
Rigid3d
Templates:
- Rigid3d
Target: Sofa.Component.Constraint.Projective
namespace: sofa::component::constraint::projective
parents:
- ProjectiveConstraintSet
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 |
| 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 |
| endTime | The constraint stops acting after the given value. Use a negative value for infinite constraints | -1 |
| meshIndices | Indices of the mesh | |
| indices | Indices of the constrained points | |
| beginConstraintTime | Begin time of the bilinear constraint | |
| endConstraintTime | End time of the bilinear constraint | |
| rotation | rotation applied to border points | |
| quaternion | quaternion applied to border points | |
| translation | translation applied to border points | |
| Visualization | ||
| drawConstrainedPoints | draw constrained points | |
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 |
| mstate | MechanicalState used by this component | MechanicalState<Rigid3d> |
| topology | link to the topology container | BaseMeshTopology |
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.Constraint.Projective
namespace: sofa::component::constraint::projective
parents:
- ProjectiveConstraintSet
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 |
| 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 |
| endTime | The constraint stops acting after the given value. Use a negative value for infinite constraints | -1 |
| meshIndices | Indices of the mesh | |
| indices | Indices of the constrained points | |
| beginConstraintTime | Begin time of the bilinear constraint | |
| endConstraintTime | End time of the bilinear constraint | |
| rotation | rotation applied to border points | |
| quaternion | quaternion applied to border points | |
| translation | translation applied to border points | |
| Visualization | ||
| drawConstrainedPoints | draw constrained points | |
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 |
| mstate | MechanicalState used by this component | MechanicalState<Vec3d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
AffineMovementProjectiveConstraint.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 0 0" dt="0.01" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [AffineMovementProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI PairBoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<VisualStyle displayFlags="hideVisualModels showBehavior" />
<DefaultAnimationLoop/>
<Node name="Square" >
<EulerImplicitSolver name="Euler Implicit" rayleighStiffness="0.5" rayleighMass="0.5" vdamping="0" />
<CGLinearSolver template="GraphScattered" name="CG Solver" iterations="40" tolerance="1e-06" threshold="1e-10"/>
<MechanicalObject template="Vec3" name="mObject1" showObject="true" showObjectScale="3"/>
<RegularGridTopology name ="loader" nx="5" ny="5" nz="1" xmin="0" xmax="1" ymin="0" ymax="1" zmin="0" zmax="1" position="@mObject1.position" drawHexahedra="true"/>
<UniformMass totalMass="1"/>
<MeshSpringForceField template="Vec3" name="forcefield" linesStiffness="10" />
<BoxROI name="Box" box="-0.1 -0.1 0 1.1 1.1 0"/>
<PairBoxROI name="PairBox" inclusiveBox="-0.1 -0.1 0 1.1 1.1 0" includedBox="0.1 0.1 0 0.9 0.9 0"/>
<AffineMovementProjectiveConstraint name="bilinearConstraint" template="Vec3" indices="@PairBox.indices" meshIndices = "@Box.indices" translation="0.1 0 0" rotation="[0.7 -0.7 0,0.7 0.7 0,0 0 1]" drawConstrainedPoints="1"/>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 0 0", dt="0.01")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('VisualStyle', displayFlags="hideVisualModels showBehavior")
root.addObject('DefaultAnimationLoop', )
square = root.addChild('Square')
square.addObject('EulerImplicitSolver', name="Euler Implicit", rayleighStiffness="0.5", rayleighMass="0.5", vdamping="0")
square.addObject('CGLinearSolver', template="GraphScattered", name="CG Solver", iterations="40", tolerance="1e-06", threshold="1e-10")
square.addObject('MechanicalObject', template="Vec3", name="mObject1", showObject="true", showObjectScale="3")
square.addObject('RegularGridTopology', name="loader", nx="5", ny="5", nz="1", xmin="0", xmax="1", ymin="0", ymax="1", zmin="0", zmax="1", position="@mObject1.position", drawHexahedra="true")
square.addObject('UniformMass', totalMass="1")
square.addObject('MeshSpringForceField', template="Vec3", name="forcefield", linesStiffness="10")
square.addObject('BoxROI', name="Box", box="-0.1 -0.1 0 1.1 1.1 0")
square.addObject('PairBoxROI', name="PairBox", inclusiveBox="-0.1 -0.1 0 1.1 1.1 0", includedBox="0.1 0.1 0 0.9 0.9 0")
square.addObject('AffineMovementProjectiveConstraint', name="bilinearConstraint", template="Vec3", indices="@PairBox.indices", meshIndices="@Box.indices", translation="0.1 0 0", rotation="[0.7 -0.7 0,0.7 0.7 0,0 0 1]", drawConstrainedPoints="1")
AffineMovementProjectiveConstraint3D.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 0 0" dt="0.05" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [AffineMovementProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI PairBoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<VisualStyle displayFlags="hideVisualModels showBehavior" />
<DefaultAnimationLoop/>
<Node name="Square" >
<EulerImplicitSolver name="Euler Implicit" printLog="0" rayleighStiffness="0.5" rayleighMass="0.5" vdamping="0" />
<CGLinearSolver template="GraphScattered" name="CG Solver" printLog="0" iterations="40" tolerance="1e-06" threshold="1e-10" />
<MechanicalObject template="Vec3" name="mObject1" showObject="true" showObjectScale="3"/>
<RegularGridTopology name ="loader" nx="4" ny="4" nz="4" xmin="0" xmax="1" ymin="0" ymax="1" zmin="0" zmax="1" position="@mObject1.position" drawHexahedra="true"/>
<UniformMass totalMass="1"/>
<TetrahedronFEMForceField template="Vec3" name="forcefield" youngModulus="200" poissonRatio="0.4" method="polar" />
<BoxROI name="Box" box="-0.1 -0.1 -0.1 1.1 1.1 1.1"/>
<PairBoxROI name="PairBox" inclusiveBox="-0.1 -0.1 -0.1 1.1 1.1 1.1" includedBox="0.1 0.1 0.1 0.9 0.9 0.9"/>
<AffineMovementProjectiveConstraint name="bilinearConstraint" template="Vec3" indices="@PairBox.indices" meshIndices = "@Box.indices" translation="0.1 0.1 0.1" rotation="[1 0 0,0 1 0,1 0 1]"/>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 0 0", dt="0.05")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('VisualStyle', displayFlags="hideVisualModels showBehavior")
root.addObject('DefaultAnimationLoop', )
square = root.addChild('Square')
square.addObject('EulerImplicitSolver', name="Euler Implicit", printLog="0", rayleighStiffness="0.5", rayleighMass="0.5", vdamping="0")
square.addObject('CGLinearSolver', template="GraphScattered", name="CG Solver", printLog="0", iterations="40", tolerance="1e-06", threshold="1e-10")
square.addObject('MechanicalObject', template="Vec3", name="mObject1", showObject="true", showObjectScale="3")
square.addObject('RegularGridTopology', name="loader", nx="4", ny="4", nz="4", xmin="0", xmax="1", ymin="0", ymax="1", zmin="0", zmax="1", position="@mObject1.position", drawHexahedra="true")
square.addObject('UniformMass', totalMass="1")
square.addObject('TetrahedronFEMForceField', template="Vec3", name="forcefield", youngModulus="200", poissonRatio="0.4", method="polar")
square.addObject('BoxROI', name="Box", box="-0.1 -0.1 -0.1 1.1 1.1 1.1")
square.addObject('PairBoxROI', name="PairBox", inclusiveBox="-0.1 -0.1 -0.1 1.1 1.1 1.1", includedBox="0.1 0.1 0.1 0.9 0.9 0.9")
square.addObject('AffineMovementProjectiveConstraint', name="bilinearConstraint", template="Vec3", indices="@PairBox.indices", meshIndices="@Box.indices", translation="0.1 0.1 0.1", rotation="[1 0 0,0 1 0,1 0 1]")