DeformableOnRigidFrameMapping
Set the positions and velocities of points attached to a rigid parent
Vec3d,Rigid3d,Vec3d
Templates:
- Vec3d,Rigid3d,Vec3d
Target: Sofa.Component.Mapping.Linear
namespace: sofa::component::mapping::linear
parents:
- CRTPLinearMapping
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 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
| index | input DOF index | 0 |
| indexFromEnd | input DOF index starts from the end of input DOFs vector | 0 |
| repartition | number of dest dofs per entry dof | |
| globalToLocalCoords | are the output DOFs initially expressed in global coordinates | |
| rootAngularForceScaleFactor | Scale factor applied on the angular force accumulated on the rigid model | 1 |
| rootLinearForceScaleFactor | Scale factor applied on the linear force accumulated on the rigid model | 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 |
| input1 | Input Object(s) (1st Data type) | State<Vec3d> |
| input2 | Input Object(s) (2st Data type) | State<Rigid3d> |
| output | Output Object(s) | State<Vec3d> |
Examples
DeformableOnRigidFrameMapping.scn
<?xml version="1.0" ?>
<!-- Mechanical DeformableOnRigidFrameMapping Example -->
<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 [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<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.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<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 DeformableOnRigidFrameMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<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] -->
<VisualStyle displayFlags="showBehavior showVisual" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<DefaultAnimationLoop/>
<Node name="ChainRigid">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="gray" />
</Node>
<!-- <Node name="TorusRigid"> -->
<Node name="Torus">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" verbose="0" />
<MechanicalObject name="rigidframe" template="Rigid3" position="1 2 0 0 0 0.7 0.7" />
<UniformMass filename="BehaviorModels/torus.rigid" />
<!--<FixedProjectiveConstraint /> -->
<!-- </Node> -->
<Node name="TorusDeformLocal">
<SparseGridTopology filename="mesh/torus_for_collision.obj" n="7 2 4" />
<MechanicalObject />
<TetrahedronFEMForceField youngModulus="125" poissonRatio="0.45" />
<BoxConstraint box="-1 -1 -1 1 1 1" />
<Node name="DeformableMappedModel">
<SparseGridTopology filename="mesh/torus_for_collision.obj" n="7 2 4" />
<MechanicalObject name="deformedMO" />
<DeformableOnRigidFrameMapping input1="@.." input2="@../../rigidframe" output="@deformedMO" printLog="0" />
<Node name="TorusCollisLocal">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel group="2" />
<BarycentricMapping />
<PlaneForceField name="Floor" normal="0 1 0" d="-4" stiffness="100" damping="1" />
</Node>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="gray" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
</Node>
</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.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.MechanicalLoad")
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('VisualStyle', displayFlags="showBehavior showVisual")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
root.addObject('DefaultAnimationLoop', )
chain_rigid = root.addChild('ChainRigid')
torus_fixed = ChainRigid.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray")
torus = ChainRigid.addChild('Torus')
torus.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus.addObject('CGLinearSolver', iterations="50", threshold="1e-15", tolerance="1e-15", verbose="0")
torus.addObject('MechanicalObject', name="rigidframe", template="Rigid3", position="1 2 0 0 0 0.7 0.7")
torus.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
torus_deform_local = Torus.addChild('TorusDeformLocal')
torus_deform_local.addObject('SparseGridTopology', filename="mesh/torus_for_collision.obj", n="7 2 4")
torus_deform_local.addObject('MechanicalObject', )
torus_deform_local.addObject('TetrahedronFEMForceField', youngModulus="125", poissonRatio="0.45")
torus_deform_local.addObject('BoxConstraint', box="-1 -1 -1 1 1 1")
deformable_mapped_model = TorusDeformLocal.addChild('DeformableMappedModel')
deformable_mapped_model.addObject('SparseGridTopology', filename="mesh/torus_for_collision.obj", n="7 2 4")
deformable_mapped_model.addObject('MechanicalObject', name="deformedMO")
deformable_mapped_model.addObject('DeformableOnRigidFrameMapping', input1="@..", input2="@../../rigidframe", output="@deformedMO", printLog="0")
torus_collis_local = DeformableMappedModel.addChild('TorusCollisLocal')
torus_collis_local.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
torus_collis_local.addObject('MeshTopology', src="@loader")
torus_collis_local.addObject('MechanicalObject', src="@loader")
torus_collis_local.addObject('TriangleCollisionModel', group="2")
torus_collis_local.addObject('BarycentricMapping', )
torus_collis_local.addObject('PlaneForceField', name="Floor", normal="0 1 0", d="-4", stiffness="100", damping="1")
visu = DeformableMappedModel.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
DeformableOnRigidFrameMappingConstraints.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.02">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [PrecomputedConstraintCorrection UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<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 DeformableOnRigidFrameMapping] -->
<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 [TetrahedronFEMForceField] -->
<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] -->
<VisualStyle displayFlags="showBehavior" />
<FreeMotionAnimationLoop />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.3" contactDistance="0.1" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />
<LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
<FreeMotionAnimationLoop/>
<Node name="ChainRigid">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="gray" />
</Node>
<Node name="TorusRigid">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" />
<MechanicalObject name="rigidframe" template="Rigid3" position="1 2 0 0 0 0.7 0.7" />
<UniformMass filename="BehaviorModels/torus.rigid" />
<UncoupledConstraintCorrection />
</Node>
<Node name="TorusDeformLocal">
<EulerImplicitSolver />
<CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" />
<SparseGridTopology filename="mesh/torus_for_collision.obj" n="7 2 4" />
<MechanicalObject />
<TetrahedronFEMForceField youngModulus="1e4" poissonRatio="0.45"/>
<BoxConstraint box="-1 -1 -1 1 1 1" />
<PrecomputedConstraintCorrection recompute="true" />
<Node name="DeformableMappedModel">
<SparseGridTopology filename="mesh/torus_for_collision.obj" n="7 2 4" />
<MechanicalObject name="deformedMO" />
<DeformableOnRigidFrameMapping input1="@.." input2="@../../TorusRigid/rigidframe" output="@deformedMO" printLog="0" />
<Node name="TorusCollisLocal">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel group="2" />
<LineCollisionModel group="2" />
<PointCollisionModel group="2" />
<BarycentricMapping />
</Node>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="gray" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
</Node>
<!---->
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.02")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
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.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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('VisualStyle', displayFlags="showBehavior")
root.addObject('FreeMotionAnimationLoop', )
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.3", contactDistance="0.1")
root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
root.addObject('LCPConstraintSolver', tolerance="0.001", maxIt="1000")
root.addObject('FreeMotionAnimationLoop', )
chain_rigid = root.addChild('ChainRigid')
torus_fixed = ChainRigid.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray")
torus_rigid = ChainRigid.addChild('TorusRigid')
torus_rigid.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
torus_rigid.addObject('CGLinearSolver', iterations="50", threshold="1e-15", tolerance="1e-15")
torus_rigid.addObject('MechanicalObject', name="rigidframe", template="Rigid3", position="1 2 0 0 0 0.7 0.7")
torus_rigid.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
torus_rigid.addObject('UncoupledConstraintCorrection', )
torus_deform_local = ChainRigid.addChild('TorusDeformLocal')
torus_deform_local.addObject('EulerImplicitSolver', )
torus_deform_local.addObject('CGLinearSolver', iterations="50", threshold="1e-15", tolerance="1e-15")
torus_deform_local.addObject('SparseGridTopology', filename="mesh/torus_for_collision.obj", n="7 2 4")
torus_deform_local.addObject('MechanicalObject', )
torus_deform_local.addObject('TetrahedronFEMForceField', youngModulus="1e4", poissonRatio="0.45")
torus_deform_local.addObject('BoxConstraint', box="-1 -1 -1 1 1 1")
torus_deform_local.addObject('PrecomputedConstraintCorrection', recompute="true")
deformable_mapped_model = TorusDeformLocal.addChild('DeformableMappedModel')
deformable_mapped_model.addObject('SparseGridTopology', filename="mesh/torus_for_collision.obj", n="7 2 4")
deformable_mapped_model.addObject('MechanicalObject', name="deformedMO")
deformable_mapped_model.addObject('DeformableOnRigidFrameMapping', input1="@..", input2="@../../TorusRigid/rigidframe", output="@deformedMO", printLog="0")
torus_collis_local = DeformableMappedModel.addChild('TorusCollisLocal')
torus_collis_local.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
torus_collis_local.addObject('MeshTopology', src="@loader")
torus_collis_local.addObject('MechanicalObject', src="@loader")
torus_collis_local.addObject('TriangleCollisionModel', group="2")
torus_collis_local.addObject('LineCollisionModel', group="2")
torus_collis_local.addObject('PointCollisionModel', group="2")
torus_collis_local.addObject('BarycentricMapping', )
visu = DeformableMappedModel.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")