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HermiteSplineProjectiveConstraint

Apply a hermite cubic spline trajectory to given points.

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 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
endTime The constraint stops acting after the given value. Use a negative value for infinite constraints -1
indices Indices of the constrained points
BeginTime Begin Time of the motion
EndTime End Time of the motion
X0 first control point
dX0 first control tangente
X1 second control point
dX1 second control tangente
SX0 first interpolation vector
SX1 second interpolation vector
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 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
endTime The constraint stops acting after the given value. Use a negative value for infinite constraints -1
indices Indices of the constrained points
BeginTime Begin Time of the motion
EndTime End Time of the motion
X0 first control point
dX0 first control tangente
X1 second control point
dX1 second control tangente
SX0 first interpolation vector
SX1 second interpolation vector
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

HermiteSplineProjectiveConstraint.scn

<Node name="root" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [HermiteSplineProjectiveConstraint] -->
    <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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showVisual showBehaviorModels showForceFields" />
    <DefaultAnimationLoop/>
    <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0" rayleighMass="0" />
    <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
    <MechanicalObject template="Vec3" showObject="1" drawMode="1">
        <Attribute type="name">
            <Data value="particleDOF" />
        </Attribute>
        <Attribute type="position">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="velocity">
            <Data value="0 10 0" />
        </Attribute>
        <Attribute type="derivX">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="free_position">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="free_velocity">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="rest_position">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="translation">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="rotation">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="scale">
            <Data value="1" />
        </Attribute>
    </MechanicalObject>
    <HermiteSplineProjectiveConstraint template="Vec3">
        <Attribute type="name">
            <Data value="thierry" />
        </Attribute>
        <Attribute type="indices">
            <Data value="0" />
        </Attribute>
        <Attribute type="BeginTime">
            <Data value="0" />
        </Attribute>
        <Attribute type="EndTime">
            <Data value="5" />
        </Attribute>
        <Attribute type="X0">
            <Data value="0 0 0" />
        </Attribute>
        <Attribute type="dX0">
            <Data value="0 10 0" />
        </Attribute>
        <Attribute type="X1">
            <Data value="5 0 0" />
        </Attribute>
        <Attribute type="dX1">
            <Data value="0 5 0" />
        </Attribute>
        <Attribute type="SX0">
            <Data value="1 0" />
        </Attribute>
        <Attribute type="SX1">
            <Data value="0 2" />
        </Attribute>
    </HermiteSplineProjectiveConstraint>
    <UniformMass >
        <Attribute type="name">
            <Data value="particleMass" />
        </Attribute>
        <Attribute type="totalMass">
            <Data value="1" />
        </Attribute>
    </UniformMass>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", bbox="-1 -1 -1 1 1 1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   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.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showForceFields")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0", rayleighMass="0")
   root.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   root.addObject('MechanicalObject', template="Vec3", showObject="1", drawMode="1")
   root.addObject('HermiteSplineProjectiveConstraint', template="Vec3")
   root.addObject('UniformMass', )