IdentityMultiMapping
Concatenate several mechanical states together.
Rigid3d,Rigid3d
Templates:
- Rigid3d,Rigid3d
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 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 |
| 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 |
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 |
| input | Input Object(s) | State<Rigid3d> |
| output | Output Object(s) | State<Rigid3d> |
Vec3d,Vec3d
Templates:
- Vec3d,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 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 |
| 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 |
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 |
| input | Input Object(s) | State<Vec3d> |
| output | Output Object(s) | State<Vec3d> |
Examples
IdentityMultiMapping.scn
<?xml version="1.0"?>
<Node name="root" dt="0.02" gravity="0 0 0">
<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 [DiscreteIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [GridMeshCreator] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMultiMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
<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] -->
<VisualStyle displayFlags="showBehaviorModels showCollisionModels showForceFields" />
<DefaultAnimationLoop/>
<CollisionPipeline/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<DiscreteIntersection/>
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<Node name="object1">
<GridMeshCreator name="loader" filename="nofile" resolution="2 2" />
<MeshTopology src="@loader" />
<MechanicalObject template="Vec3" src="@loader" name="dof1" />
<Node name="object2">
<GridMeshCreator name="loader" filename="nofile" resolution="2 2" translation="2 0 0" />
<MeshTopology src="@loader" />
<MechanicalObject template="Vec3" src="@loader" name="dof2"/>
<Node name="concatenation">
<MechanicalObject template="Vec3" name="dofall" showObject="1"/>
<IdentityMultiMapping template="Vec3,Vec3" input="@../../dof1 @../dof2" output="@./dofall" />
<SphereCollisionModel radius="0.3" selfCollision="1"/>
<UniformMass vertexMass="1" />
<ConstantForceField indices="0" forces="1 0 0"/>
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.02", gravity="0 0 0")
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.MechanicalLoad")
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('VisualStyle', displayFlags="showBehaviorModels showCollisionModels showForceFields")
root.addObject('DefaultAnimationLoop', )
root.addObject('CollisionPipeline', )
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', response="PenalityContactForceField")
root.addObject('DiscreteIntersection', )
root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")
object1 = root.addChild('object1')
object1.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2")
object1.addObject('MeshTopology', src="@loader")
object1.addObject('MechanicalObject', template="Vec3", src="@loader", name="dof1")
object2 = object1.addChild('object2')
object2.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2", translation="2 0 0")
object2.addObject('MeshTopology', src="@loader")
object2.addObject('MechanicalObject', template="Vec3", src="@loader", name="dof2")
concatenation = object2.addChild('concatenation')
concatenation.addObject('MechanicalObject', template="Vec3", name="dofall", showObject="1")
concatenation.addObject('IdentityMultiMapping', template="Vec3,Vec3", input="@../../dof1 @../dof2", output="@./dofall")
concatenation.addObject('SphereCollisionModel', radius="0.3", selfCollision="1")
concatenation.addObject('UniformMass', vertexMass="1")
concatenation.addObject('ConstantForceField', indices="0", forces="1 0 0")