LinearMovementProjectiveConstraint
Impose a motion to given DOFs (translation and rotation).
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 | |
| keyTimes | key times for the movements | |
| movements | movements corresponding to the key times | |
| relativeMovements | If true, movements are relative to first position, absolute otherwise | 1 |
| Visualization | ||
| showMovement | Visualization of the movement to be applied to constrained dofs. | 0 |
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 |
Vec1d
Templates:
- Vec1d
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 | |
| keyTimes | key times for the movements | |
| movements | movements corresponding to the key times | |
| relativeMovements | If true, movements are relative to first position, absolute otherwise | 1 |
| Visualization | ||
| showMovement | Visualization of the movement to be applied to constrained dofs. | 0 |
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<Vec1d> |
| topology | link to the topology container | BaseMeshTopology |
Vec2d
Templates:
- Vec2d
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 | |
| keyTimes | key times for the movements | |
| movements | movements corresponding to the key times | |
| relativeMovements | If true, movements are relative to first position, absolute otherwise | 1 |
| Visualization | ||
| showMovement | Visualization of the movement to be applied to constrained dofs. | 0 |
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<Vec2d> |
| 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 | |
| keyTimes | key times for the movements | |
| movements | movements corresponding to the key times | |
| relativeMovements | If true, movements are relative to first position, absolute otherwise | 1 |
| Visualization | ||
| showMovement | Visualization of the movement to be applied to constrained dofs. | 0 |
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 |
Vec6d
Templates:
- Vec6d
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 | |
| keyTimes | key times for the movements | |
| movements | movements corresponding to the key times | |
| relativeMovements | If true, movements are relative to first position, absolute otherwise | 1 |
| Visualization | ||
| showMovement | Visualization of the movement to be applied to constrained dofs. | 0 |
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<Vec6d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
LinearMovementProjectiveConstraint.scn
<?xml version="1.0"?>
<Node name="Root" dt="0.1" >
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [LinearMovementProjectiveConstraint] -->
<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.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.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<Node name="Spoon1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" dx="0" dy="0" dz="0" name="default118" position="0 1.41421 0 0 0 0.382683 0.92388" rest_position="0 1.41421 0 0 0 0.382683 0.92388" />
<LinearMovementProjectiveConstraint template="Rigid3" keyTimes="0 2 10 40 50" movements="0 0 0 0 0 0
0 0 0 0 0 0
0 0 -1 0 0 0
0 0 -1 0 0 6.3
0 0 -1 0 0 6.3" />
<Node name="coli">
<MeshOBJLoader name="loader" filename="mesh/liver.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" name="dofs" />
<TriangleCollisionModel moving="1" simulated="1" contactStiffness="100000000"/>
<RigidMapping template="Rigid3,Vec3" />
</Node>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/liver.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="red" />
<RigidMapping template="Rigid3,Vec3" name="default161" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="Spoon2">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" dx="10" dy="0" dz="0" name="default118" position="0 1.41421 0 0 0 0.382683 0.92388" rest_position="0 1.41421 0 0 0 0.382683 0.92388"/>
<LinearMovementProjectiveConstraint template="Rigid3" keyTimes="0 2 10 40 50" movements="0 0 0 0 0 0
0 0 0 0 0 0
0 0 -1 0 0 0
0 0 -1 0 0 6.3
0 0 0 0 0 6.3" />
<Node name="coli">
<MeshOBJLoader name="loader" filename="mesh/liver.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" name="dofs" />
<TriangleCollisionModel moving="1" simulated="1" contactStiffness="100000000" />
<RigidMapping template="Rigid3,Vec3" />
</Node>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/liver.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="green" />
<RigidMapping template="Rigid3,Vec3" name="default161" input="@.." output="@Visual"/>
</Node>
</Node>
<Node name="Spoon3">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" dx="20" dy="0" dz="0" name="default118" position="0 1.41421 0 0 0 0.382683 0.92388" rest_position="0 1.41421 0 0 0 0.382683 0.92388" />
<LinearMovementProjectiveConstraint template="Rigid3" keyTimes="0 2 10 40 50" movements="0 0 0 0 0 0
0 0 0 0 0 0
0 0 -1 0 0 0
0 0 -1 0 0 6.3
0 0 -1 0 0 0" />
<Node name="coli">
<MeshOBJLoader name="loader" filename="mesh/liver.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" name="dofs" />
<TriangleCollisionModel moving="1" simulated="1" contactStiffness="100000000" />
<RigidMapping template="Rigid3,Vec3" />
</Node>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/liver.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="blue" />
<RigidMapping template="Rigid3,Vec3" name="default161" input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('Root', dt="0.1")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
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.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
spoon1 = Root.addChild('Spoon1')
spoon1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
spoon1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
spoon1.addObject('MechanicalObject', template="Rigid3", dx="0", dy="0", dz="0", name="default118", position="0 1.41421 0 0 0 0.382683 0.92388", rest_position="0 1.41421 0 0 0 0.382683 0.92388")
spoon1.addObject('LinearMovementProjectiveConstraint', template="Rigid3", keyTimes="0 2 10 40 50", movements="0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 6.3 0 0 -1 0 0 6.3")
coli = Spoon1.addChild('coli')
coli.addObject('MeshOBJLoader', name="loader", filename="mesh/liver.obj")
coli.addObject('MeshTopology', src="@loader")
coli.addObject('MechanicalObject', src="@loader", template="Vec3", name="dofs")
coli.addObject('TriangleCollisionModel', moving="1", simulated="1", contactStiffness="100000000")
coli.addObject('RigidMapping', template="Rigid3,Vec3")
visu = Spoon1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/liver.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red")
visu.addObject('RigidMapping', template="Rigid3,Vec3", name="default161", input="@..", output="@Visual")
spoon2 = Root.addChild('Spoon2')
spoon2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
spoon2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
spoon2.addObject('MechanicalObject', template="Rigid3", dx="10", dy="0", dz="0", name="default118", position="0 1.41421 0 0 0 0.382683 0.92388", rest_position="0 1.41421 0 0 0 0.382683 0.92388")
spoon2.addObject('LinearMovementProjectiveConstraint', template="Rigid3", keyTimes="0 2 10 40 50", movements="0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 6.3 0 0 0 0 0 6.3")
coli = Spoon2.addChild('coli')
coli.addObject('MeshOBJLoader', name="loader", filename="mesh/liver.obj")
coli.addObject('MeshTopology', src="@loader")
coli.addObject('MechanicalObject', src="@loader", template="Vec3", name="dofs")
coli.addObject('TriangleCollisionModel', moving="1", simulated="1", contactStiffness="100000000")
coli.addObject('RigidMapping', template="Rigid3,Vec3")
visu = Spoon2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/liver.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="green")
visu.addObject('RigidMapping', template="Rigid3,Vec3", name="default161", input="@..", output="@Visual")
spoon3 = Root.addChild('Spoon3')
spoon3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
spoon3.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
spoon3.addObject('MechanicalObject', template="Rigid3", dx="20", dy="0", dz="0", name="default118", position="0 1.41421 0 0 0 0.382683 0.92388", rest_position="0 1.41421 0 0 0 0.382683 0.92388")
spoon3.addObject('LinearMovementProjectiveConstraint', template="Rigid3", keyTimes="0 2 10 40 50", movements="0 0 0 0 0 0 0 0 0 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 6.3 0 0 -1 0 0 0")
coli = Spoon3.addChild('coli')
coli.addObject('MeshOBJLoader', name="loader", filename="mesh/liver.obj")
coli.addObject('MeshTopology', src="@loader")
coli.addObject('MechanicalObject', src="@loader", template="Vec3", name="dofs")
coli.addObject('TriangleCollisionModel', moving="1", simulated="1", contactStiffness="100000000")
coli.addObject('RigidMapping', template="Rigid3,Vec3")
visu = Spoon3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/liver.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="blue")
visu.addObject('RigidMapping', template="Rigid3,Vec3", name="default161", input="@..", output="@Visual")