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GenerateRigidMass

Engine computing the RigidMass of a mesh: mass, volume and inertia matrix.

Rigid3d

Templates:

  • Rigid3d

Target: Sofa.Component.Engine.Generate

namespace: sofa::component::engine::generate

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 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
Inputs
density input: Density of the object 1000
position input: positions of the vertices
triangles input: triangles of the mesh
quads input: quads of the mesh
polygons input: polygons of the mesh
Outputs
rigidMass output: rigid mass computed
mass output: mass of the mesh
volume output: volume of the mesh
inertiaMatrix output: the inertia matrix of the mesh
massCenter output: the gravity center of the mesh
centerToOrigin output: vector going from the mass center to the space origin
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

GenerateRigidMass.scn

<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" dt="0.02">
    <RequiredPlugin name="Sofa.Component.Engine.Generate"/> <!-- Needed to use components [GenerateRigidMass] -->
    <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformPosition] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showVisual showBehaviorModels showWireframe" />
    <DefaultAnimationLoop/>
    <Node name="Livers">
        <Node name="Green Liver">
            <MeshOBJLoader name="loader" filename="mesh/liver-smooth.obj" trianglesGroups="Mesh1  -1 0 4384" />
            <GenerateRigidMass template="Rigid3" name="massEngine" density="1000" position="@loader.position" triangles="@loader.triangles" quads="@loader.quads" />
            <TransformPosition template="Vec3" name="positionEngine" input_position="@loader.position" translation="@massEngine.centerToOrigin" method="translation" />
            <MechanicalObject template="Rigid3" name="RigidObject" translation="@massEngine.massCenter" translation2="-5 10 0" />
            <UniformMass template="Rigid3" name="Mass" vertexMass="@massEngine.rigidMass" showAxisSizeFactor="1" />
            <Node name="VisualNode" tags="Visual">
                <OglModel template="Vec3" name="Visual" position="@../positionEngine.output_position" normal="@../loader.normals" triangles="@../loader.triangles" material="Default Diffuse 1 0 0.8 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45" />
                <RigidMapping template="Rigid3,Vec3" name="VisualMapping" input="@.." output="@Visual" />
            </Node>
        </Node>
        <Node name="Red Liver">
            <MeshOBJLoader name="loader" filename="mesh/liver-smooth.obj" trianglesGroups="Mesh1  -1 0 4384" />
            <MechanicalObject template="Rigid3" name="RigidObject" translation2="5 10 0" />
            <UniformMass template="Rigid3" name="Mass" totalMass="1" showAxisSizeFactor="1" />
            <Node name="VisualNode" tags="Visual">
                <OglModel template="Vec3" name="Visual" position="@../loader.position" normal="@../loader.normals" triangles="@../loader.triangles" material="Default Diffuse 1 0.8 0 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45" />
                <RigidMapping template="Rigid3,Vec3" name="VisualMapping" input="@.." output="@Visual" />
            </Node>
        </Node>
    </Node>
    <Node name="Dragons">
        <Node name="Green Dragon">
            <MeshOBJLoader name="loader" filename="mesh/dragon_clean.obj" trianglesGroups="Mesh  -1 0 2484" />
            <GenerateRigidMass template="Rigid3" name="massEngine" density="1000" position="@loader.position" triangles="@loader.triangles" quads="@loader.quads" />
            <TransformPosition template="Vec3" name="positionEngine" input_position="@loader.position" translation="@massEngine.centerToOrigin" method="translation" />
            <MechanicalObject template="Rigid3" name="RigidObject" translation="@massEngine.massCenter" translation2="-15 0 0" />
            <UniformMass template="Rigid3" name="Mass" vertexMass="@massEngine.rigidMass" showAxisSizeFactor="1" />
            <Node name="VisualNode" tags="Visual">
                <OglModel template="Vec3" name="Visual" position="@../positionEngine.output_position" normal="@../loader.normals" triangles="@../loader.triangles" material="Default Diffuse 1 0 0.8 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45" />
                <RigidMapping template="Rigid3,Vec3" name="VisualMapping" input="@.." output="@Visual" />
            </Node>
        </Node>
        <Node name="Red Dragon 2">
            <MeshOBJLoader name="loader" filename="mesh/dragon_clean.obj" trianglesGroups="Mesh  -1 0 2484" />
            <MechanicalObject template="Rigid3" name="RigidObject" translation2="15 0 0" />
            <UniformMass template="Rigid3" name="Mass" filename="BehaviorModels/dragon_clean.rigid" showAxisSizeFactor="1" />
            <Node name="VisualNode" tags="Visual">
                <OglModel template="Vec3" name="Visual" position="@../loader.position" normal="@../loader.normals" triangles="@../loader.triangles" material="Default Diffuse 1 0.8 0 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45" />
                <RigidMapping template="Rigid3,Vec3" name="VisualMapping" input="@.." output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('Root', gravity="0 0 0", dt="0.02")

   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Generate")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
   root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showWireframe")
   root.addObject('DefaultAnimationLoop', )

   livers = Root.addChild('Livers')

   green__liver = Livers.addChild('Green Liver')

   green__liver.addObject('MeshOBJLoader', name="loader", filename="mesh/liver-smooth.obj", trianglesGroups="Mesh1  -1 0 4384")
   green__liver.addObject('GenerateRigidMass', template="Rigid3", name="massEngine", density="1000", position="@loader.position", triangles="@loader.triangles", quads="@loader.quads")
   green__liver.addObject('TransformPosition', template="Vec3", name="positionEngine", input_position="@loader.position", translation="@massEngine.centerToOrigin", method="translation")
   green__liver.addObject('MechanicalObject', template="Rigid3", name="RigidObject", translation="@massEngine.massCenter", translation2="-5 10 0")
   green__liver.addObject('UniformMass', template="Rigid3", name="Mass", vertexMass="@massEngine.rigidMass", showAxisSizeFactor="1")

   visual_node = Green Liver.addChild('VisualNode', tags="Visual")

   visual_node.addObject('OglModel', template="Vec3", name="Visual", position="@../positionEngine.output_position", normal="@../loader.normals", triangles="@../loader.triangles", material="Default Diffuse 1 0 0.8 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45")
   visual_node.addObject('RigidMapping', template="Rigid3,Vec3", name="VisualMapping", input="@..", output="@Visual")

   red__liver = Livers.addChild('Red Liver')

   red__liver.addObject('MeshOBJLoader', name="loader", filename="mesh/liver-smooth.obj", trianglesGroups="Mesh1  -1 0 4384")
   red__liver.addObject('MechanicalObject', template="Rigid3", name="RigidObject", translation2="5 10 0")
   red__liver.addObject('UniformMass', template="Rigid3", name="Mass", totalMass="1", showAxisSizeFactor="1")

   visual_node = Red Liver.addChild('VisualNode', tags="Visual")

   visual_node.addObject('OglModel', template="Vec3", name="Visual", position="@../loader.position", normal="@../loader.normals", triangles="@../loader.triangles", material="Default Diffuse 1 0.8 0 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45")
   visual_node.addObject('RigidMapping', template="Rigid3,Vec3", name="VisualMapping", input="@..", output="@Visual")

   dragons = Root.addChild('Dragons')

   green__dragon = Dragons.addChild('Green Dragon')

   green__dragon.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon_clean.obj", trianglesGroups="Mesh  -1 0 2484")
   green__dragon.addObject('GenerateRigidMass', template="Rigid3", name="massEngine", density="1000", position="@loader.position", triangles="@loader.triangles", quads="@loader.quads")
   green__dragon.addObject('TransformPosition', template="Vec3", name="positionEngine", input_position="@loader.position", translation="@massEngine.centerToOrigin", method="translation")
   green__dragon.addObject('MechanicalObject', template="Rigid3", name="RigidObject", translation="@massEngine.massCenter", translation2="-15 0 0")
   green__dragon.addObject('UniformMass', template="Rigid3", name="Mass", vertexMass="@massEngine.rigidMass", showAxisSizeFactor="1")

   visual_node = Green Dragon.addChild('VisualNode', tags="Visual")

   visual_node.addObject('OglModel', template="Vec3", name="Visual", position="@../positionEngine.output_position", normal="@../loader.normals", triangles="@../loader.triangles", material="Default Diffuse 1 0 0.8 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45")
   visual_node.addObject('RigidMapping', template="Rigid3,Vec3", name="VisualMapping", input="@..", output="@Visual")

   red__dragon_2 = Dragons.addChild('Red Dragon 2')

   red__dragon_2.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon_clean.obj", trianglesGroups="Mesh  -1 0 2484")
   red__dragon_2.addObject('MechanicalObject', template="Rigid3", name="RigidObject", translation2="15 0 0")
   red__dragon_2.addObject('UniformMass', template="Rigid3", name="Mass", filename="BehaviorModels/dragon_clean.rigid", showAxisSizeFactor="1")

   visual_node = Red Dragon 2.addChild('VisualNode', tags="Visual")

   visual_node.addObject('OglModel', template="Vec3", name="Visual", position="@../loader.position", normal="@../loader.normals", triangles="@../loader.triangles", material="Default Diffuse 1 0.8 0 0 1 Ambient 1 0.1 0.1 0.1 1 Specular 0 0.5 0.5 0.5 1 Emissive 0 0.5 0.5 0.5 1 Shininess 0 45")
   visual_node.addObject('RigidMapping', template="Rigid3,Vec3", name="VisualMapping", input="@..", output="@Visual")