ShapeMatching

Compute target positions using shape matching deformation method by Mueller et al.

Rigid3d

Templates:

Rigid3d

Target: Sofa.Component.Engine.Analyze

namespace: sofa::component::engine::analyze

parents:

DataEngine

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
iterations	Number of iterations.	1
affineRatio	Blending between affine and rigid.	0
fixedweight	weight of fixed particles.	1
Inputs
fixedPosition0	rest positions of non mechanical particles.
fixedPosition	current (fixed) positions of non mechanical particles.
position	Input positions.
cluster	Input clusters.
Outputs
targetPosition	Computed target positions.

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>

Vec3d

Templates:

Vec3d

Target: Sofa.Component.Engine.Analyze

namespace: sofa::component::engine::analyze

parents:

DataEngine

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
iterations	Number of iterations.	1
affineRatio	Blending between affine and rigid.	0
fixedweight	weight of fixed particles.	1
Inputs
fixedPosition0	rest positions of non mechanical particles.
fixedPosition	current (fixed) positions of non mechanical particles.
position	Input positions.
cluster	Input clusters.
Outputs
targetPosition	Computed target positions.

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>

Examples

ShapeMatching.scn

XMLPython

<?xml version="1.0"?>
<Node   name="root" gravity="0 -1 0" dt="0.05"  >
    <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 [MinProximityIntersection] -->
    <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.Constraint.Projective"/> <!-- Needed to use components [PositionBasedDynamicsProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Analyze"/> <!-- Needed to use components [ClusteringEngine ShapeMatching] -->
    <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.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <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] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node   name="dragon"  >
        <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" />
        <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
        <MeshTopology name="topo" src="@loader" />
        <MechanicalObject name="dofs" src="@loader" scale="1" dz="10" />
        <UniformMass vertexMass="3" />

        <ClusteringEngine template="Vec3" name="clustering" radius='1'  number='50' position="@topo.position"/>
        <ShapeMatching template="Vec3" name="shapeMatching" iterations='1' position="@dofs.position" cluster="@clustering.cluster"/>
        <PositionBasedDynamicsProjectiveConstraint template="Vec3" stiffness = '1' position="@shapeMatching.targetPosition"/>

        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_1" filename="mesh/dragon.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_1" color="red" dz="10" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dz="10" />
            <TriangleCollisionModel contactStiffness="1000" />
            <LineCollisionModel contactStiffness="1000" />
            <PointCollisionModel contactStiffness="1000" />
            <IdentityMapping />
        </Node>
    </Node>
    <Node name="Floor">
        <MeshOBJLoader name="loader" filename="mesh/floor3.obj" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dy="-10" scale="1.75" />
        <TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
        <LineCollisionModel name="FloorLine" simulated="0" moving="0" />
        <PointCollisionModel name="FloorPoint" simulated="0" moving="0" />
        <MeshOBJLoader name="meshLoader_0" filename="mesh/floor3.obj" scale="1.75" handleSeams="1" />
        <OglModel name="FloorV" src="@meshLoader_0" texturename="textures/brushed_metal.bmp" dy="-10" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -1 0", dt="0.05")

   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.Engine.Analyze")
   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.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 showForceFields")
   root.addObject('CollisionPipeline', verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   dragon = root.addChild('dragon')

   dragon.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   dragon.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   dragon.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
   dragon.addObject('MeshTopology', name="topo", src="@loader")
   dragon.addObject('MechanicalObject', name="dofs", src="@loader", scale="1", dz="10")
   dragon.addObject('UniformMass', vertexMass="3")
   dragon.addObject('ClusteringEngine', template="Vec3", name="clustering", radius="1", number="50", position="@topo.position")
   dragon.addObject('ShapeMatching', template="Vec3", name="shapeMatching", iterations="1", position="@dofs.position", cluster="@clustering.cluster")
   dragon.addObject('PositionBasedDynamicsProjectiveConstraint', template="Vec3", stiffness="1", position="@shapeMatching.targetPosition")

   visu = dragon.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/dragon.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red", dz="10")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   surf = dragon.addChild('Surf')

   surf.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
   surf.addObject('MeshTopology', src="@loader")
   surf.addObject('MechanicalObject', src="@loader", dz="10")
   surf.addObject('TriangleCollisionModel', contactStiffness="1000")
   surf.addObject('LineCollisionModel', contactStiffness="1000")
   surf.addObject('PointCollisionModel', contactStiffness="1000")
   surf.addObject('IdentityMapping', )

   floor = root.addChild('Floor')

   floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor3.obj")
   floor.addObject('MeshTopology', src="@loader")
   floor.addObject('MechanicalObject', src="@loader", dy="-10", scale="1.75")
   floor.addObject('TriangleCollisionModel', name="FloorTriangle", simulated="0", moving="0")
   floor.addObject('LineCollisionModel', name="FloorLine", simulated="0", moving="0")
   floor.addObject('PointCollisionModel', name="FloorPoint", simulated="0", moving="0")
   floor.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/floor3.obj", scale="1.75", handleSeams="1")
   floor.addObject('OglModel', name="FloorV", src="@meshLoader_0", texturename="textures/brushed_metal.bmp", dy="-10")

ShapeMatchingForceField.scn

XMLPython

<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 [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,PointCollisionModel,SphereCollisionModel,TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <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.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
    <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] -->
    <RequiredPlugin name="ShapeMatchingPlugin"/> <!-- Needed to use components [ShapeMatchingForceField,ShapeMatchingRotationFinder] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline verbose="0" draw="0" />
    <BruteForceBroadPhase />
    <BVHNarrowPhase />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="cubeFEM">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" scale="1" dz="10" />
        <UniformMass totalMass="3" />
        <RotationFinder neighborhoodLevel="1" radius="0.1" />
        <ShapeMatchingForceField name="ShapeMatching" stiffness="100" />
        <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
        <Node name="Visu">
            <OglModel name="Visual" src="@../loader" color="red" dz="10" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf">
            <MeshTopology src="@../loader" />
            <MechanicalObject src="@../loader" dz="10" />
            <SphereCollisionModel contactStiffness="10" radius="0.1"/>
            <IdentityMapping />
        </Node>
    </Node>
    <Node name="Floor">
        <MeshOBJLoader name="loader" filename="mesh/floor3.obj" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dy="-10" scale="1.75" />
        <TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
        <LineCollisionModel name="FloorLine" simulated="0" moving="0" />
        <PointCollisionModel name="FloorPoint" simulated="0" moving="0" />
        <OglModel name="FloorV" src="@loader" texturename="textures/brushed_metal.bmp" dy="-10" scale="1.75" />
    </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.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.SceneUtility")
   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('RequiredPlugin', name="ShapeMatchingPlugin")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('CollisionPipeline', verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   cube_fem = root.addChild('cubeFEM')

   cube_fem.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   cube_fem.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   cube_fem.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
   cube_fem.addObject('MeshTopology', src="@loader")
   cube_fem.addObject('MechanicalObject', src="@loader", scale="1", dz="10")
   cube_fem.addObject('UniformMass', totalMass="3")
   cube_fem.addObject('RotationFinder', neighborhoodLevel="1", radius="0.1")
   cube_fem.addObject('ShapeMatchingForceField', name="ShapeMatching", stiffness="100")
   cube_fem.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")

   visu = cubeFEM.addChild('Visu')

   visu.addObject('OglModel', name="Visual", src="@../loader", color="red", dz="10")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   surf = cubeFEM.addChild('Surf')

   surf.addObject('MeshTopology', src="@../loader")
   surf.addObject('MechanicalObject', src="@../loader", dz="10")
   surf.addObject('SphereCollisionModel', contactStiffness="10", radius="0.1")
   surf.addObject('IdentityMapping', )

   floor = root.addChild('Floor')

   floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor3.obj")
   floor.addObject('MeshTopology', src="@loader")
   floor.addObject('MechanicalObject', src="@loader", dy="-10", scale="1.75")
   floor.addObject('TriangleCollisionModel', name="FloorTriangle", simulated="0", moving="0")
   floor.addObject('LineCollisionModel', name="FloorLine", simulated="0", moving="0")
   floor.addObject('PointCollisionModel', name="FloorPoint", simulated="0", moving="0")
   floor.addObject('OglModel', name="FloorV", src="@loader", texturename="textures/brushed_metal.bmp", dy="-10", scale="1.75")