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DisplacementMatrixEngine

Converts a vector of Rigid to a vector of displacement matrices.

Rigid3d

Templates:

  • Rigid3d

Target: Sofa.Component.Engine.Transform

namespace: sofa::component::engine::transform

parents:

  • DisplacementTransformEngine

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
x0 Rest position
x Current position
scales Scale transformation added to the rigid transformation
Outputs
displaceMats Displacement transforms with respect to original rigid positions
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

DisplacementMatrixEngine.scn

<?xml version="1.0"?>
<Node    name="root"  dt="0.01" animate="1" >
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [LinearMovementProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [DisplacementTransformEngine] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <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.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="Sofa.GL.Component.Shader"/> <!-- Needed to use components [OglFloat4Attribute OglInt4Attribute OglMatrix4VectorVariable OglShader] -->

    <DefaultAnimationLoop/>
    <EulerExplicitSolver name="odesolver"  />
    <Node    name="DeformableObject"   >
        <MechanicalObject template="Rigid3" name="Bones"  position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1" rest_position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1"  showObject="1"  showObjectScale="0.5" />
        <LinearMovementProjectiveConstraint template="Rigid3" name="BoneTrajectories"  indices="1"  keyTimes="0 1 2 3 4 5 6 7 8 9 10 11 12 20"  movements=" 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
        <Node    name="StaticMesh" >
            <MechanicalObject template="Vec3" name="2"  position="-1 -2 0 1 -2 0 -1 0 0 1 0 0 -1 2 0 1 2 0"    />
            <MeshTopology   triangles="0 1 2  2 1 3  2 3 4  4 3 5 " />
            <Node    name="GPUMesh"  >
               <OglModel template="Vec3"  />
                <IdentityMapping template="Vec3,Vec3" mapForces="0"  mapConstraints="0"  mapMasses="0"   />
                <DisplacementTransformEngine name="BoneDisplacements" template="Rigid3,Mat4x4"  x0="@../../Bones.rest_position"  x="@../../Bones.position"   />
                <OglShader name="SkinningShader" fileFragmentShaders="['shaders/linearBlendSkinning.frag']" fileVertexShaders="['shaders/linearBlendSkinning.vert']"/>
                <OglMatrix4VectorVariable  id="boneMatrix"  value="@BoneDisplacements.displacements"  transpose="1" />
                <OglInt4Attribute   id="indices"  value="0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0" />
                <OglFloat4Attribute id="weights"  value="1 0 0 0 1 0 0 0 0.5 0.5 0 0 0.5 0.5 0 0 1 0 0 0 1 0 0 0" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", animate="1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Shader")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('EulerExplicitSolver', name="odesolver")

   deformable_object = root.addChild('DeformableObject')

   deformable_object.addObject('MechanicalObject', template="Rigid3", name="Bones", position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1", rest_position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1", showObject="1", showObjectScale="0.5")
   deformable_object.addObject('LinearMovementProjectiveConstraint', template="Rigid3", name="BoneTrajectories", indices="1", keyTimes="0 1 2 3 4 5 6 7 8 9 10 11 12 20", movements=" 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0")

   static_mesh = DeformableObject.addChild('StaticMesh')

   static_mesh.addObject('MechanicalObject', template="Vec3", name="2", position="-1 -2 0 1 -2 0 -1 0 0 1 0 0 -1 2 0 1 2 0")
   static_mesh.addObject('MeshTopology', triangles="0 1 2  2 1 3  2 3 4  4 3 5 ")

   gpu_mesh = StaticMesh.addChild('GPUMesh')

   gpu_mesh.addObject('OglModel', template="Vec3")
   gpu_mesh.addObject('IdentityMapping', template="Vec3,Vec3", mapForces="0", mapConstraints="0", mapMasses="0")
   gpu_mesh.addObject('DisplacementTransformEngine', name="BoneDisplacements", template="Rigid3,Mat4x4", x0="@../../Bones.rest_position", x="@../../Bones.position")
   gpu_mesh.addObject('OglShader', name="SkinningShader", fileFragmentShaders="['shaders/linearBlendSkinning.frag']", fileVertexShaders="['shaders/linearBlendSkinning.vert']")
   gpu_mesh.addObject('OglMatrix4VectorVariable', id="boneMatrix", value="@BoneDisplacements.displacements", transpose="1")
   gpu_mesh.addObject('OglInt4Attribute', id="indices", value="0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0")
   gpu_mesh.addObject('OglFloat4Attribute', id="weights", value="1 0 0 0 1 0 0 0 0.5 0.5 0 0 0.5 0.5 0 0 1 0 0 0 1 0 0 0")