LinearVelocityProjectiveConstraint
Impose a velocity 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 | |
| velocities | velocities corresponding to the key times | |
| coordinates | coordinates on which to apply velocities | |
| continueAfterEnd | If set to true then the last velocity will still be applied after all the key events | 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 | |
| velocities | velocities corresponding to the key times | |
| coordinates | coordinates on which to apply velocities | |
| continueAfterEnd | If set to true then the last velocity will still be applied after all the key events | 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 | |
| velocities | velocities corresponding to the key times | |
| coordinates | coordinates on which to apply velocities | |
| continueAfterEnd | If set to true then the last velocity will still be applied after all the key events | 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 | |
| velocities | velocities corresponding to the key times | |
| coordinates | coordinates on which to apply velocities | |
| continueAfterEnd | If set to true then the last velocity will still be applied after all the key events | 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 | |
| velocities | velocities corresponding to the key times | |
| coordinates | coordinates on which to apply velocities | |
| continueAfterEnd | If set to true then the last velocity will still be applied after all the key events | 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
LinearVelocityProjectiveConstraint.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 -100 0" dt="0.05" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [AffineMovementProjectiveConstraint] -->
<RequiredPlugin name="MultiThreading"/> <!-- Needed to use components [ParallelBVHNarrowPhase,ParallelBruteForceBroadPhase] -->
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader,MeshVTKLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT,EigenSparseLU] -->
<RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass,UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin name="Sofa.Component.Setting"/> <!-- Needed to use components [BackgroundSetting] -->
<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.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopologyContainer] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<!-- # Rendering settings -->
<VisualStyle name="RenderingOptions" displayFlags="showVisualModels" />
<BackgroundSetting color="0.8 0.8 0.8 1" />
<!-- # Header of the simulation -->
<FreeMotionAnimationLoop name="FreeMotionAnimationLoop" parallelODESolving="true" parallelCollisionDetectionAndFreeMotion="true"/>
<Node name="Box">
<EulerImplicitSolver name="EulerImplicitScheme" />
<EigenSparseLU name="LUSolver" template="CompressedRowSparseMatrixd" />
<MechanicalObject name="mstate" template="Rigid3" position="0 0 0 0 0 0 1" />
<LinearVelocityProjectiveConstraint indices="0" keyTimes="0 2" velocities="0 0 0 0 0 0 0 0 0 0 0 0.3 " continueAfterEnd="true" />
<UniformMass name="Mass" totalMass="0.1" />
<Node name="Collision">
<TriangleSetTopologyContainer name="FloorTopology" position="-200 -200 15 200 -200 15 200 200 15 -200 200 15 -200 -200 -15 200 -200 -15 200 200 -15 -200 200 -15" triangles="0 2 1 0 3 2 4 6 5 4 7 6 0 1 4 5 4 1 3 6 2 3 7 6 1 2 6 1 6 5 0 4 3 3 4 7"/>
<MechanicalObject name="CollisionDOF" template="Vec3"/>
<TriangleCollisionModel selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" proximity="3" />
<RigidMapping name="MappingCollision" input="@../mstate" output="@CollisionDOF" globalToLocalCoords="true"/>
</Node>
<Node name="Visu">
<OglModel name="VisualModel" color="0.5 0.5 0.5 0.2" src="@../Collision/FloorTopology" />
<RigidMapping name="MappingCollision" input="@../mstate" output="@VisualModel" globalToLocalCoords="true"/>
</Node>
<LinearSolverConstraintCorrection/>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -100 0", dt="0.05")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="MultiThreading")
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.Direct")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSystem")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
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.SceneUtility")
root.addObject('RequiredPlugin', name="Sofa.Component.Setting")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', name="RenderingOptions", displayFlags="showVisualModels")
root.addObject('BackgroundSetting', color="0.8 0.8 0.8 1")
root.addObject('FreeMotionAnimationLoop', name="FreeMotionAnimationLoop", parallelODESolving="true", parallelCollisionDetectionAndFreeMotion="true")
box = root.addChild('Box')
box.addObject('EulerImplicitSolver', name="EulerImplicitScheme")
box.addObject('EigenSparseLU', name="LUSolver", template="CompressedRowSparseMatrixd")
box.addObject('MechanicalObject', name="mstate", template="Rigid3", position="0 0 0 0 0 0 1")
box.addObject('LinearVelocityProjectiveConstraint', indices="0", keyTimes="0 2", velocities="0 0 0 0 0 0 0 0 0 0 0 0.3 ", continueAfterEnd="true")
box.addObject('UniformMass', name="Mass", totalMass="0.1")
collision = Box.addChild('Collision')
collision.addObject('TriangleSetTopologyContainer', name="FloorTopology", position="-200 -200 15 200 -200 15 200 200 15 -200 200 15 -200 -200 -15 200 -200 -15 200 200 -15 -200 200 -15", triangles="0 2 1 0 3 2 4 6 5 4 7 6 0 1 4 5 4 1 3 6 2 3 7 6 1 2 6 1 6 5 0 4 3 3 4 7")
collision.addObject('MechanicalObject', name="CollisionDOF", template="Vec3")
collision.addObject('TriangleCollisionModel', selfCollision="0", topology="@FloorTopology", simulated="0", group="1 2", proximity="3")
collision.addObject('RigidMapping', name="MappingCollision", input="@../mstate", output="@CollisionDOF", globalToLocalCoords="true")
visu = Box.addChild('Visu')
visu.addObject('OglModel', name="VisualModel", color="0.5 0.5 0.5 0.2", src="@../Collision/FloorTopology")
visu.addObject('RigidMapping', name="MappingCollision", input="@../mstate", output="@VisualModel", globalToLocalCoords="true")
box.addObject('LinearSolverConstraintCorrection', )