SkinningMapping
skin a model from a set of rigid dofs
Rigid3d,Vec3d
Templates:
- 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 |
| initPos | initial child coordinates in the world reference frame. | |
| nbRef | Number of primitives influencing each point. | |
| indices | parent indices for each child. | |
| weight | influence weights of the Dofs. | |
| Visualization | ||
| showFromIndex | Displayed From Index. | 0 |
| showWeights | Show influence. | 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 to map | State<Rigid3d> |
| output | Output object to map | State<Vec3d> |
Examples
SkinningMapping.scn
<Node name="root" gravity="0 -9.81 0" dt="0.01" time="0" animate="0" multiThreadSimulation="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 [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel 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.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [SkinningMapping] -->
<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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [JointSpringForceField] -->
<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] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showBehaviorModels showCollisionModels" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" />
<CollisionPipeline name="default2" />
<MinProximityIntersection name="default3" alarmDistance="1" contactDistance="0.5"/>
<DefaultAnimationLoop/>
<Node name="default4" gravity="0 -9.81 0">
<EulerImplicitSolver name="cg_odesolver" printLog="0" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="25" tolerance="1e-09" threshold="1e-09" />
<MechanicalObject template="Rigid3" name="DOFs" restScale="1" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1" velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<UniformMass name="mass" vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
<FixedProjectiveConstraint template="Rigid3" name="fixOrigin" indices="0" />
<Node name="default5" gravity="0 -9.81 0">
<MechanicalObject template="Rigid3" name="attaches" restScale="1" position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<RigidMapping template="Rigid3,Rigid3" name="default6" rigidIndexPerPoint="1 2 2 2 2" input="@../DOFs" output="@attaches" />
<JointSpringForceField template="Rigid3" name="joint springs" spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
" />
</Node>
<Node name="default7" gravity="0 -9.81 0">
<MechanicalObject template="Vec3" name="PointSet" restScale="1" position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5" velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<MeshTopology name="default9" edges="0 1 1 2 2 3 3 0 1 5 5 4 4 0 5 6 6 7 7 4 2 6 7 3 8 9 9 10 10 11 11 8 9 13 13 12 12 8 13 14 14 15 15 12 10 14 15 11 16 17 17 18 18 19 19 16 17 21 21 20 20 16 21 22 22 23 23 20 18 22 23 19 24 25 25 26 26 27 27 24 25 29 29 28 28 24 29 30 30 31 31 28 26 30 31 27 " triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 " />
<TriangleCollisionModel template="Vec3" name="default10" />
<LineCollisionModel name="default11" />
<SkinningMapping template="Rigid3,Vec3" input="@../DOFs" output="@PointSet" />
</Node>
<Node name="Visu" gravity="0 -9.81 0">
<OglModel template="Vec3" name="Visual" position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5" triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 " />
<SkinningMapping template="Rigid3,Vec3" input="@../DOFs" output="@Visual" />
</Node>
</Node>
</Node>
```python def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01", time="0", animate="0", multiThreadSimulation="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.Constraint.Projective") root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative") root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear") root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear") root.addObject('RequiredPlugin', name="Sofa.Component.Mass") root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward") root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring") 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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D") root.addObject('VisualStyle', displayFlags="showBehaviorModels showCollisionModels") root.addObject('BruteForceBroadPhase', ) root.addObject('BVHNarrowPhase', ) root.addObject('CollisionResponse', name="default1") root.addObject('CollisionPipeline', name="default2") root.addObject('MinProximityIntersection', name="default3", alarmDistance="1", contactDistance="0.5") root.addObject('DefaultAnimationLoop', )
default4 = root.addChild('default4', gravity="0 -9.81 0")
default4.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1") default4.addObject('CGLinearSolver', template="GraphScattered", name="linear solver", iterations="25", tolerance="1e-09", threshold="1e-09") default4.addObject('MechanicalObject', template="Rigid3", name="DOFs", restScale="1", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0") default4.addObject('UniformMass', name="mass", vertexMass="1 1 [1 0 0,0 1 0,0 0 1]") default4.addObject('FixedProjectiveConstraint', template="Rigid3", name="fixOrigin", indices="0")
default5 = default4.addChild('default5', gravity="0 -9.81 0")
default5.addObject('MechanicalObject', template="Rigid3", name="attaches", restScale="1", position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0") default5.addObject('RigidMapping', template="Rigid3,Rigid3", name="default6", rigidIndexPerPoint="1 2 2 2 2", input="@../DOFs", output="@attaches") default5.addObject('JointSpringForceField', template="Rigid3", name="joint springs", spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING ")
default7 = default4.addChild('default7', gravity="0 -9.81 0")
default7.addObject('MechanicalObject', template="Vec3", name="PointSet", restScale="1", position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5", velocity="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0")
default7.addObject('MeshTopology', name="default9", edges="0 1 1 2 2 3 3 0 1 5 5 4 4 0 5 6 6 7 7 4 2 6 7 3 8 9 9 10 10 11 11 8 9 13 13 12 12 8 13 14 14 15 15 12 10 14 15 11 16 17 17 18 18 19 19 16 17 21 21 20 20 16 21 22 22 23 23 20 18 22 23 19 24 25 25 26 26 27 27 24 25 29 29 28 28 24 29 30 30 31 31 28 26 30 31 27 ", triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 ")
default7.addObject('TriangleCollisionModel', template="Vec3", name="default10")
default7.addObject('LineCollisionModel', name="default11")
default7.addObject('SkinningMapping', template="Rigid3,Vec3", input="@../DOFs", output="@PointSet")
visu = default4.addChild('Visu', gravity="0 -9.81 0")
visu.addObject('OglModel', template="Vec3", name="Visual", position="0 -0.5 -0.5 0 0.5 -0.5 0 0.5 0.5 0 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 2 -0.5 -0.5 2 0.5 -0.5 2 0.5 0.5 2 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 4 -0.5 -0.5 4 0.5 -0.5 4 0.5 0.5 4 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 6 -0.5 -0.5 6 0.5 -0.5 6 0.5 0.5 6 -0.5 0.5 8 -0.5 -0.5 8 0.5 -0.5 8 0.5 0.5 8 -0.5 0.5", triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 ")
visu.addObject('SkinningMapping', template="Rigid3,Vec3", input="@../DOFs", output="@Visual")
```