`TransformEngine

This component belongs to the category of Engines. The TransformEngine transforms the positions of one DataFields into new positions after applying a transformation. This transformation can be either: translation, rotation or scale.

Engine applying a transformation on 3d points (translation / rotation).

Templates:

• Rigid2d
• Rigid3d
• Vec1d
• Vec2d
• Vec3d

Target: Sofa.Component.Engine.Transform

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

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
Inputs
input_position	input array of 3d points
translation	translation vector (x,y,z)	0 0 0
rotation	rotation vector (x,y,z)	0 0 0
quaternion	rotation quaternion (qx,qy,qz,qw)	0 0 0 1
scale	scale factor	1 1 1
inverse	true to apply inverse transformation	0
Outputs
output_position	output array of 3d points

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

TransformEngine.scn

XMLPython

<Node name="Root" gravity="0 0 0" 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 TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
    <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 [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 [HexahedronFEMForceField] -->
    <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.Topology.Container.Grid"/> <!-- Needed to use components [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showVisual" />
    <CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <!-- Using the Transform Engine on the independent MechanicalState -->
    <Node name="TransformedState" gravity="0 -9.81 0">
        <EulerImplicitSolver name="default12" rayleighStiffness="0.01"  rayleighMass="0.1" />
        <CGLinearSolver template="GraphScattered" name="default13" iterations="25" threshold="1e-08" tolerance="1e-05"/>
        <SparseGridTopology name="default14" fileTopology="mesh/doubleBall.obj" n="6 6 6" />
        <TransformEngine name="transform" template="Vec3" translation="10 0 0" rotation="0 0 90" scale="0.5 1 2" input_position="@[-1].position" />
        <MechanicalObject template="Vec3" name="dofTransformed" position="@[-1].output_position" restScale="1" />
        <UniformMass name="default16" totalMass="5" />
        <HexahedronFEMForceField template="Vec3" name="FEM" method="polar" poissonRatio="0.3" youngModulus="5000" />
        <Node name="VisualNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/doubleBall.obj" handleSeams="1" />
            <OglModel template="Vec3" name="Visual" src="@meshLoader_0" texturename="textures/board.png" material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
            <BarycentricMapping template="Vec3,Vec3" name="default17" input="@.." output="@Visual" />
        </Node>
        <Node name="CollisionNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="loader" filename="mesh/doubleBall.obj" />
            <MeshTopology src="@loader" name="default18" />
            <MechanicalObject src="@loader" template="Vec3" name="default19" restScale="1" />
            <TriangleCollisionModel name="default20" />
            <LineCollisionModel name="default21" />
            <PointCollisionModel name="default22" />
            <BarycentricMapping template="Vec3,Vec3" name="default23" />
        </Node>
    </Node>
    <Node name="VisualModel">
        <MeshOBJLoader name="ObjLoader" filename="mesh/floor3.obj" />
        <TransformEngine name="transform" template="Vec3" translation="5 0 0" rotation="0 0 -90" scale="0.1 0.3 0.1" input_position="@[-1].position" />
        <OglModel name="VisualModel" src="@./ObjLoader" position="@[-1].output_position" texturename="textures/floor.bmp" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('Root', gravity="0 0 0", 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.Engine.Transform")
   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.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showVisual")
   root.addObject('CollisionPipeline', name="DefaultCollisionPipeline", verbose="0", draw="0", depth="6")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   transformed_state = Root.addChild('TransformedState', gravity="0 -9.81 0")

   transformed_state.addObject('EulerImplicitSolver', name="default12", rayleighStiffness="0.01", rayleighMass="0.1")
   transformed_state.addObject('CGLinearSolver', template="GraphScattered", name="default13", iterations="25", threshold="1e-08", tolerance="1e-05")
   transformed_state.addObject('SparseGridTopology', name="default14", fileTopology="mesh/doubleBall.obj", n="6 6 6")
   transformed_state.addObject('TransformEngine', name="transform", template="Vec3", translation="10 0 0", rotation="0 0 90", scale="0.5 1 2", input_position="@[-1].position")
   transformed_state.addObject('MechanicalObject', template="Vec3", name="dofTransformed", position="@[-1].output_position", restScale="1")
   transformed_state.addObject('UniformMass', name="default16", totalMass="5")
   transformed_state.addObject('HexahedronFEMForceField', template="Vec3", name="FEM", method="polar", poissonRatio="0.3", youngModulus="5000")

   visual_node = TransformedState.addChild('VisualNode', gravity="0 -9.81 0")

   visual_node.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/doubleBall.obj", handleSeams="1")
   visual_node.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_0", texturename="textures/board.png", material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
   visual_node.addObject('BarycentricMapping', template="Vec3,Vec3", name="default17", input="@..", output="@Visual")

   collision_node = TransformedState.addChild('CollisionNode', gravity="0 -9.81 0")

   collision_node.addObject('MeshOBJLoader', name="loader", filename="mesh/doubleBall.obj")
   collision_node.addObject('MeshTopology', src="@loader", name="default18")
   collision_node.addObject('MechanicalObject', src="@loader", template="Vec3", name="default19", restScale="1")
   collision_node.addObject('TriangleCollisionModel', name="default20")
   collision_node.addObject('LineCollisionModel', name="default21")
   collision_node.addObject('PointCollisionModel', name="default22")
   collision_node.addObject('BarycentricMapping', template="Vec3,Vec3", name="default23")

   visual_model = Root.addChild('VisualModel')

   visual_model.addObject('MeshOBJLoader', name="ObjLoader", filename="mesh/floor3.obj")
   visual_model.addObject('TransformEngine', name="transform", template="Vec3", translation="5 0 0", rotation="0 0 -90", scale="0.1 0.3 0.1", input_position="@[-1].position")
   visual_model.addObject('OglModel', name="VisualModel", src="@./ObjLoader", position="@[-1].output_position", texturename="textures/floor.bmp")