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OscillatorProjectiveConstraint

Apply a sinusoidal 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 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
oscillators Define a sequence of oscillating particules: [index, Mean(x,y,z), amplitude(x,y,z), pulsation, phase]
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>

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
oscillators Define a sequence of oscillating particules: [index, Mean(x,y,z), amplitude(x,y,z), pulsation, phase]
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>

Examples

OscillatorProjectiveConstraint.scn

<Node name="root" dt="0.02">
    <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 [DiscreteIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint OscillatorProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader SphereLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <CollisionPipeline verbose="0" name="CollisionPipeline" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" name="collision response" />
    <DiscreteIntersection />

    <Node name="Liver" depend="topo dofs">
        <MeshGmshLoader name="meshLoader0" filename="mesh/liver.msh" />

        <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 name="dofs" src="@meshLoader0" />
        <!-- Container for the tetrahedra-->
        <TetrahedronSetTopologyContainer name="topo" src="@meshLoader0" />
        <!-- Algorithms: used in DiagonalMass to compute the mass -->
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
        <DiagonalMass massDensity="1" name="computed using mass density" />
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="3000" poissonRatio="0.3" computeGlobalMatrix="false" method="large" />
        <FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="3 39 64" />
        <!-- Moving dof 15 along the X around a min pos  (2,0,0) with an amplitude of (1,0,0), 5 in pulsation, and 10 in phase -->
        <OscillatorProjectiveConstraint name="OscillatingConstraint" oscillators="15 2 0 0 1 0 0 5 10" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
            <OglModel name="VisualModel" src="@meshLoader_0" color="red" />
            <BarycentricMapping input="@.." output="@VisualModel" name="visual mapping" />
        </Node>
        <Node name="Surf">
        <SphereLoader filename="mesh/liver.sph" />
            <MechanicalObject position="@[-1].position" />
            <SphereCollisionModel name="CollisionModel" listRadius="@[-2].listRadius" />
            <BarycentricMapping name="sphere mapping" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02")

   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.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('CollisionPipeline', verbose="0", name="CollisionPipeline")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField", name="collision response")
   root.addObject('DiscreteIntersection', )

   liver = root.addChild('Liver', depend="topo dofs")

   liver.addObject('MeshGmshLoader', name="meshLoader0", filename="mesh/liver.msh")
   liver.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   liver.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   liver.addObject('MechanicalObject', name="dofs", src="@meshLoader0")
   liver.addObject('TetrahedronSetTopologyContainer', name="topo", src="@meshLoader0")
   liver.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
   liver.addObject('DiagonalMass', massDensity="1", name="computed using mass density")
   liver.addObject('TetrahedralCorotationalFEMForceField', name="FEM", youngModulus="3000", poissonRatio="0.3", computeGlobalMatrix="false", method="large")
   liver.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="3 39 64")
   liver.addObject('OscillatorProjectiveConstraint', name="OscillatingConstraint", oscillators="15 2 0 0 1 0 0 5 10")

   visu = Liver.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/liver-smooth.obj", handleSeams="1")
   visu.addObject('OglModel', name="VisualModel", src="@meshLoader_0", color="red")
   visu.addObject('BarycentricMapping', input="@..", output="@VisualModel", name="visual mapping")

   surf = Liver.addChild('Surf')

   surf.addObject('SphereLoader', filename="mesh/liver.sph")
   surf.addObject('MechanicalObject', position="@[-1].position")
   surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@[-2].listRadius")
   surf.addObject('BarycentricMapping', name="sphere mapping")

OscillatorProjectiveConstraint_rigid.scn

<Node      name="Root"  dt="0.04" bbox="-1 -1 -1 1 1 1" >
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [OscillatorProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showBehaviorModels" />
    <DefaultAnimationLoop/>
    <EulerExplicitSolver name="solver" />

    <Node name="Point Oscillator"  >
        <MechanicalObject template="Vec3" name="mech" position="0 0 0"  velocity="1 0 0"  force="1 0 0" externalForce="1 0 0" derivX="1 0 0"  restScale="1" />
        <UniformMass name="m" totalMass="1.0"/>
        <OscillatorProjectiveConstraint template="Vec3" name="osc"  oscillators="0  1 1 1  1 0 0  1 5" />
    </Node>

    <Node name="Rigid Oscillator" >
        <MechanicalObject template="Rigid3" name="mech2" position="0 0 0 0 0 0 1"  velocity="0 0 0 0 0 0" />
        <UniformMass name="m2" totalMass="1.0"/>
        <OscillatorProjectiveConstraint template="Rigid3" name="osc2" oscillators="0  1 1 0 0 0 0 1   0 1 1 0 0.707 0.707  1 5" />
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('Root', dt="0.04", bbox="-1 -1 -1 1 1 1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('EulerExplicitSolver', name="solver")

   point__oscillator = Root.addChild('Point Oscillator')

   point__oscillator.addObject('MechanicalObject', template="Vec3", name="mech", position="0 0 0", velocity="1 0 0", force="1 0 0", externalForce="1 0 0", derivX="1 0 0", restScale="1")
   point__oscillator.addObject('UniformMass', name="m", totalMass="1.0")
   point__oscillator.addObject('OscillatorProjectiveConstraint', template="Vec3", name="osc", oscillators="0  1 1 1  1 0 0  1 5")

   rigid__oscillator = Root.addChild('Rigid Oscillator')

   rigid__oscillator.addObject('MechanicalObject', template="Rigid3", name="mech2", position="0 0 0 0 0 0 1", velocity="0 0 0 0 0 0")
   rigid__oscillator.addObject('UniformMass', name="m2", totalMass="1.0")
   rigid__oscillator.addObject('OscillatorProjectiveConstraint', template="Rigid3", name="osc2", oscillators="0  1 1 0 0 0 0 1   0 1 1 0 0.707 0.707  1 5")