MechanicalStateController

Provides a Mouse & Keyboard user control on a Mechanical State.

Templates:

• Rigid3d
• Vec1d

Target: Sofa.Component.Controller

namespace: sofa::component::controller

parents:

• Controller

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
handleEventTriggersUpdate	Event handling frequency controls the controller update frequency	0
index	Index of the controlled DOF	0
onlyTranslation	Controlling the DOF only in translation	0
buttonDeviceState	state of ths device button	0
mainDirection	Main direction and orientation of the controlled DOF	0 0 -1

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

Examples

MechanicalStateController.scn

XMLPython

<!-- MechanicalStateController example -->
<Node name="root" dt="0.005" gravity="0 -10 0">
    <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 [LocalMinDistance] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
    <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 [BeamFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showForceFields showCollisionModels" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <LocalMinDistance name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="InstrumentEdgeSet">
        <EulerImplicitSolver rayleighStiffness="0" printLog="false"  rayleighMass="0.1" />
        <BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
        <MeshGmshLoader name="loader" filename="mesh/edgeSet.msh" />
        <MechanicalObject src="@loader" name="MechanicalDOFs" template="Rigid3" position="0 0 0 0 0 0 1  1 0 0 0 0 0 1  2 0 0 0 0 0 1" showObject="1"/>
        <include href="Objects/EdgeSetTopology.xml" src="@loader" template="Rigid3" />
        <MechanicalStateController template="Rigid3" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true" />
        <FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="0" />
        <UniformMass vertexMass="1 1 0.1 0 0 0 0.1 0 0 0 0.1" printLog="false" /> 

        <BeamFEMForceField name="FEM" radius="0.1" youngModulus="50000000" poissonRatio=".49"/>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.005", gravity="0 -10 0")

   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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Controller")
   root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   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.Component.Visual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showForceFields showCollisionModels")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('LocalMinDistance', name="Proximity", alarmDistance="1.0", contactDistance="0.5")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   instrument_edge_set = root.addChild('InstrumentEdgeSet')

   instrument_edge_set.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
   instrument_edge_set.addObject('BTDLinearSolver', template="BTDMatrix6d", printLog="false", verbose="false")
   instrument_edge_set.addObject('MeshGmshLoader', name="loader", filename="mesh/edgeSet.msh")
   instrument_edge_set.addObject('MechanicalObject', src="@loader", name="MechanicalDOFs", template="Rigid3", position="0 0 0 0 0 0 1  1 0 0 0 0 0 1  2 0 0 0 0 0 1", showObject="1")
   instrument_edge_set.addObject('include', href="Objects/EdgeSetTopology.xml", src="@loader", template="Rigid3")
   instrument_edge_set.addObject('MechanicalStateController', template="Rigid3", listening="true", mainDirection="-1.0 0.0 0.0", handleEventTriggersUpdate="true")
   instrument_edge_set.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="0")
   instrument_edge_set.addObject('UniformMass', vertexMass="1 1 0.1 0 0 0 0.1 0 0 0 0.1", printLog="false")
   instrument_edge_set.addObject('BeamFEMForceField', name="FEM", radius="0.1", youngModulus="50000000", poissonRatio=".49")

MechanicalStateControllerTranslation.scn

XMLPython

<Node name="root" dt="0.005" gravity="0 -10 0">
    <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 [LocalMinDistance] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
    <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.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.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] -->
    <VisualStyle displayFlags="showForceFields showCollisionModels" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <LocalMinDistance name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="InstrumentEdgeSet">
        <EulerImplicitSolver rayleighStiffness="0" printLog="false"  rayleighMass="0.1" />
        <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
        <MechanicalObject template="Rigid3" />
        <UniformMass totalMass="1" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/sphere.obj" scale="50" handleSeams="1" />
            <OglModel color="0.500 0.500 0.500" src="@meshLoader_0" name="Visual" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf2">
            <MeshOBJLoader name="loader" filename="mesh/sphere.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" scale="50" />
            <TriangleCollisionModel />
            <LineCollisionModel />
            <PointCollisionModel />
            <RigidMapping />
        </Node>
        <MechanicalStateController template="Rigid3" onlyTranslation="true" listening="true" handleEventTriggersUpdate="true" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.005", gravity="0 -10 0")

   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.Controller")
   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.Mass")
   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.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showForceFields showCollisionModels")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('LocalMinDistance', name="Proximity", alarmDistance="1.0", contactDistance="0.5")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   instrument_edge_set = root.addChild('InstrumentEdgeSet')

   instrument_edge_set.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
   instrument_edge_set.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
   instrument_edge_set.addObject('MechanicalObject', template="Rigid3")
   instrument_edge_set.addObject('UniformMass', totalMass="1")

   visu = InstrumentEdgeSet.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/sphere.obj", scale="50", handleSeams="1")
   visu.addObject('OglModel', color="0.500 0.500 0.500", src="@meshLoader_0", name="Visual")
   visu.addObject('RigidMapping', input="@..", output="@Visual")

   surf2 = InstrumentEdgeSet.addChild('Surf2')

   surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/sphere.obj")
   surf2.addObject('MeshTopology', src="@loader")
   surf2.addObject('MechanicalObject', src="@loader", scale="50")
   surf2.addObject('TriangleCollisionModel', )
   surf2.addObject('LineCollisionModel', )
   surf2.addObject('PointCollisionModel', )
   surf2.addObject('RigidMapping', )

   instrument_edge_set.addObject('MechanicalStateController', template="Rigid3", onlyTranslation="true", listening="true", handleEventTriggersUpdate="true")