PartialFixedProjectiveConstraint
Attach given particles to their initial positions, in some directions only.
Rigid2d
Templates:
- Rigid2d
Target: Sofa.Component.Constraint.Projective
namespace: sofa::component::constraint::projective
parents:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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<Rigid2d> |
| topology | link to the topology container | BaseMeshTopology |
Rigid3d
Templates:
- Rigid3d
Target: Sofa.Component.Constraint.Projective
namespace: sofa::component::constraint::projective
parents:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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:
- FixedProjectiveConstraint
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 fixed points | |
| fixAll | filter all the DOF to implement a fixed object | 0 |
| activate_projectVelocity | if true, projects not only a constant but a zero velocity | 0 |
| fixedDirections | Defines the directions in which the particles are fixed: true (or 1) for fixed, false (or 0) for free | |
| projectVelocity | activate project velocity to maintain a constant velocity | 0 |
| Visualization | ||
| showObject | draw or not the fixed constraints | 1 |
| drawSize | Size of the rendered particles (0 -> point based rendering, >0 -> radius of spheres) | 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
PartialFixedProjectiveConstraint.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 [PartialFixedProjectiveConstraint] -->
<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 [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.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels" />
<CollisionPipeline verbose="0" name="CollisionPipeline" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" name="collision response" />
<DiscreteIntersection />
<Node name="Liver">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighMass="0" rayleighStiffness="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/liver.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" name="dofs" />
<UniformMass name="mass" vertexMass="0.05" />
<TetrahedronFEMForceField name="FEM" youngModulus="500" poissonRatio="0.3" computeGlobalMatrix="false" method="large" />
<PartialFixedProjectiveConstraint name="partialFixedProjectiveConstraint" indices="3 39 64" fixedDirections="0 1 1" />
<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 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.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels")
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')
liver.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighMass="0", rayleighStiffness="0.1")
liver.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
liver.addObject('MeshGmshLoader', name="loader", filename="mesh/liver.msh")
liver.addObject('MeshTopology', src="@loader")
liver.addObject('MechanicalObject', src="@loader", template="Vec3", name="dofs")
liver.addObject('UniformMass', name="mass", vertexMass="0.05")
liver.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="500", poissonRatio="0.3", computeGlobalMatrix="false", method="large")
liver.addObject('PartialFixedProjectiveConstraint', name="partialFixedProjectiveConstraint", indices="3 39 64", fixedDirections="0 1 1")
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', listRadius="@[-2].listRadius")
surf.addObject('BarycentricMapping', name="sphere mapping")