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SubsetMapping

TODO-SubsetMappingClass

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 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
indices list of input indices
first first index (use if indices are sequential) 4294967295
last last index (use if indices are sequential) 4294967295
radius search radius to find corresponding points in case no indices are given 1e-05
handleTopologyChange Enable support of topological changes for indices (disable if it is linked from SubsetTopologicalMapping::pointD2S) 1
ignoreNotFound True to ignore points that are not found in the input model, they will be treated as fixed points 0
resizeToModel True to resize the output MechanicalState to match the size of indices 0
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<Rigid3d>
topology link to the topology container BaseMeshTopology

Vec1d,Vec1d

Templates:

  • Vec1d,Vec1d

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
indices list of input indices
first first index (use if indices are sequential) 4294967295
last last index (use if indices are sequential) 4294967295
radius search radius to find corresponding points in case no indices are given 1e-05
handleTopologyChange Enable support of topological changes for indices (disable if it is linked from SubsetTopologicalMapping::pointD2S) 1
ignoreNotFound True to ignore points that are not found in the input model, they will be treated as fixed points 0
resizeToModel True to resize the output MechanicalState to match the size of indices 0
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<Vec1d>
output Output object to map State<Vec1d>
topology link to the topology container BaseMeshTopology

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 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
indices list of input indices
first first index (use if indices are sequential) 4294967295
last last index (use if indices are sequential) 4294967295
radius search radius to find corresponding points in case no indices are given 1e-05
handleTopologyChange Enable support of topological changes for indices (disable if it is linked from SubsetTopologicalMapping::pointD2S) 1
ignoreNotFound True to ignore points that are not found in the input model, they will be treated as fixed points 0
resizeToModel True to resize the output MechanicalState to match the size of indices 0
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<Vec3d>
output Output object to map State<Vec3d>
topology link to the topology container BaseMeshTopology

Examples

SubsetMapping.scn

<!-- Mechanical SubsetMapping Group Basic Example -->
<Node name="root" dt="0.01" gravity="0 -9.6 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 [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.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping SubsetMapping] -->
    <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.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->


    <VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe" />
    <CollisionPipeline depth="6" verbose="0" draw="0"/>
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <LocalMinDistance name="Proximity"  alarmDistance="0.006" contactDistance="0.001" coneFactor="0.3" angleCone="0.01" filterIntersection="true"/>
    <CollisionResponse name="Response" response="NeedleContact"/>
    <DefaultAnimationLoop/>

    <Node name="sutureSoftCubes">
        <EulerImplicitSolver name="TissueSolver" printLog="false" rayleighStiffness="0.3" rayleighMass="0.2"/>
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MechanicalObject template="Vec3"/>
        <UniformMass vertexMass="0.001"/>
        <RegularGridTopology name="grid"
                nx="10" ny="4" nz="10"
                xmin="-0.05" xmax="0.05"
                ymin="0.0" ymax="0.03"
                zmin="-0.05" zmax="0.05"
        />
        <!--<TetrahedronFEMForceField name="FEM" youngModulus="1e3" poissonRatio="0.4" computeGlobalMatrix="false" method="large"/>-->
        <BoxROI name="box_roi" box="-0.06 -0.001 -0.06 0.06 0.001 0.06   -0.052 -0.001 -0.06 -0.048 0.011 0.06    0.048 -0.001 -0.06 0.052 0.011 0.06" />
        <FixedProjectiveConstraint indices="@box_roi.indices" />

        <Node name="subCube1">
            <MechanicalObject template="Vec3"/>
            <RegularGridTopology name="grid"
                nx="5" ny="2" nz="10"
                xmin="-0.05" xmax="-0.00555555555555555555555"
                ymin="0.02" ymax="0.03"
                zmin="-0.05" zmax="0.05"
            />
            <HexahedronFEMForceField name="FEM" youngModulus="3e5" poissonRatio="0.4" method="large"/>
            <SubsetMapping />
            <Node name="Tetra1">
                <TetrahedronSetTopologyContainer name="Container"/>
                <TetrahedronSetTopologyModifier name="Modifier"/>
                <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                <Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
                <Node name="Visu1">
                    <TriangleSetTopologyContainer name="Container"/>
                    <TriangleSetTopologyModifier name="Modifier"/>
                    <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                    <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
<!--                    <OglModel name="Visual" filename="mesh/suture.obj" putOnlyTexCoords="true"  dx="-0.055" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 0.8 0.7 1.0 Specular 1 0.1 0.1 0.1 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" />
                    <OglShadowShader/>
                    <OglShaderDefineMacro id="USE_TEXTURE" />
                    <OglTexture2D id="colorTexture" texture2DFilename="textures/skin2.png" textureUnit="1" repeat="true" />
                    <BarycentricMapping input="@../.." output="@Visual"/>
-->
                    <OglModel name="Visual1" color="0.3 1 0.3 1"/>
                    <IdentityMapping input="@../.." output="@Visual1"/>

                    <TriangleCollisionModel group="2" name="cube1_collis_tri"/>
                    <LineCollisionModel group="2"  name="cube1_collis_line"/>
                    <PointCollisionModel group="2" name="cube2_collis_point"/>
                </Node>
            </Node>
        </Node>

        <Node name="subCube2">
            <MechanicalObject template="Vec3"/>
            <RegularGridTopology name="grid"
                nx="5" ny="2" nz="10"
                xmin="0.00555555555555555555555" xmax="0.05"
                ymin="0.02" ymax="0.03"
                zmin="-0.05" zmax="0.05"
            />
            <HexahedronFEMForceField name="FEM" youngModulus="3e5" poissonRatio="0.4" method="large"/>
            <SubsetMapping />
            <Node name="Tetra2">
                <TetrahedronSetTopologyContainer name="Container"/>
                <TetrahedronSetTopologyModifier name="Modifier"/>
                <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                <Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
                <Node name="Visu2">
                    <TriangleSetTopologyContainer name="Container"/>
                    <TriangleSetTopologyModifier name="Modifier"/>
                    <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                    <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
<!--                    <OglModel name="Visual" filename="mesh/suture.obj" putOnlyTexCoords="true"  dx="0.00" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 0.8 0.7 1.0 Specular 1 0.1 0.1 0.1 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" />
                    <OglShadowShader/>
                    <OglShaderDefineMacro id="USE_TEXTURE" />
                    <OglTexture2D id="colorTexture" texture2DFilename="textures/skin2.png" textureUnit="1" repeat="true" />
                    <BarycentricMapping input="@../.." output="@Visual"/>
 -->
                    <OglModel name="Visual2" color="0.3 0.3 1 1"/>
                    <IdentityMapping input="@../.." output="@Visual2"/>

                    <TriangleCollisionModel group="3" name="cube2_collis_tri"/>
                    <LineCollisionModel group="3"  name="cube2_collis_line"/>
                    <PointCollisionModel group="3" name="cube2_collis_point"/>
                </Node>
            </Node>
        </Node>

        <Node name="subCube3">
            <MechanicalObject template="Vec3"/>
            <RegularGridTopology name="grid"
                nx="10" ny="3" nz="10"
                xmin="-0.05" xmax="0.05"
                ymin="0.0" ymax="0.02"
                zmin="-0.05" zmax="0.05"
            />
            <HexahedronFEMForceField name="FEM" youngModulus="2e3" poissonRatio="0.4" method="large"/>
            <SubsetMapping />
            <Node name="Tetra3">
                <TetrahedronSetTopologyContainer name="Container"/>
                <TetrahedronSetTopologyModifier name="Modifier"/>
                <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                <Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
                <Node name="Visu3">
                    <TriangleSetTopologyContainer name="Container"/>
                    <TriangleSetTopologyModifier name="Modifier"/>
                    <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
                    <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
                    <OglModel name="Visual3" color="1 0.3 0.1 1"/>
                    <IdentityMapping input="@../.." output="@Visual3"/>
                </Node>
            </Node>
        </Node>
    </Node>


</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", gravity="0 -9.6 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.Engine.Select")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.006", contactDistance="0.001", coneFactor="0.3", angleCone="0.01", filterIntersection="true")
   root.addObject('CollisionResponse', name="Response", response="NeedleContact")
   root.addObject('DefaultAnimationLoop', )

   suture_soft_cubes = root.addChild('sutureSoftCubes')

   suture_soft_cubes.addObject('EulerImplicitSolver', name="TissueSolver", printLog="false", rayleighStiffness="0.3", rayleighMass="0.2")
   suture_soft_cubes.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   suture_soft_cubes.addObject('MechanicalObject', template="Vec3")
   suture_soft_cubes.addObject('UniformMass', vertexMass="0.001")
   suture_soft_cubes.addObject('RegularGridTopology', name="grid", nx="10", ny="4", nz="10", xmin="-0.05", xmax="0.05", ymin="0.0", ymax="0.03", zmin="-0.05", zmax="0.05")
   suture_soft_cubes.addObject('BoxROI', name="box_roi", box="-0.06 -0.001 -0.06 0.06 0.001 0.06   -0.052 -0.001 -0.06 -0.048 0.011 0.06    0.048 -0.001 -0.06 0.052 0.011 0.06")
   suture_soft_cubes.addObject('FixedProjectiveConstraint', indices="@box_roi.indices")

   sub_cube1 = sutureSoftCubes.addChild('subCube1')

   sub_cube1.addObject('MechanicalObject', template="Vec3")
   sub_cube1.addObject('RegularGridTopology', name="grid", nx="5", ny="2", nz="10", xmin="-0.05", xmax="-0.00555555555555555555555", ymin="0.02", ymax="0.03", zmin="-0.05", zmax="0.05")
   sub_cube1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="3e5", poissonRatio="0.4", method="large")
   sub_cube1.addObject('SubsetMapping', )

   tetra1 = subCube1.addChild('Tetra1')

   tetra1.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetra1.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetra1.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetra1.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")

   visu1 = Tetra1.addChild('Visu1')

   visu1.addObject('TriangleSetTopologyContainer', name="Container")
   visu1.addObject('TriangleSetTopologyModifier', name="Modifier")
   visu1.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   visu1.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
   visu1.addObject('OglModel', name="Visual1", color="0.3 1 0.3 1")
   visu1.addObject('IdentityMapping', input="@../..", output="@Visual1")
   visu1.addObject('TriangleCollisionModel', group="2", name="cube1_collis_tri")
   visu1.addObject('LineCollisionModel', group="2", name="cube1_collis_line")
   visu1.addObject('PointCollisionModel', group="2", name="cube2_collis_point")

   sub_cube2 = sutureSoftCubes.addChild('subCube2')

   sub_cube2.addObject('MechanicalObject', template="Vec3")
   sub_cube2.addObject('RegularGridTopology', name="grid", nx="5", ny="2", nz="10", xmin="0.00555555555555555555555", xmax="0.05", ymin="0.02", ymax="0.03", zmin="-0.05", zmax="0.05")
   sub_cube2.addObject('HexahedronFEMForceField', name="FEM", youngModulus="3e5", poissonRatio="0.4", method="large")
   sub_cube2.addObject('SubsetMapping', )

   tetra2 = subCube2.addChild('Tetra2')

   tetra2.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetra2.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetra2.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetra2.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")

   visu2 = Tetra2.addChild('Visu2')

   visu2.addObject('TriangleSetTopologyContainer', name="Container")
   visu2.addObject('TriangleSetTopologyModifier', name="Modifier")
   visu2.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   visu2.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
   visu2.addObject('OglModel', name="Visual2", color="0.3 0.3 1 1")
   visu2.addObject('IdentityMapping', input="@../..", output="@Visual2")
   visu2.addObject('TriangleCollisionModel', group="3", name="cube2_collis_tri")
   visu2.addObject('LineCollisionModel', group="3", name="cube2_collis_line")
   visu2.addObject('PointCollisionModel', group="3", name="cube2_collis_point")

   sub_cube3 = sutureSoftCubes.addChild('subCube3')

   sub_cube3.addObject('MechanicalObject', template="Vec3")
   sub_cube3.addObject('RegularGridTopology', name="grid", nx="10", ny="3", nz="10", xmin="-0.05", xmax="0.05", ymin="0.0", ymax="0.02", zmin="-0.05", zmax="0.05")
   sub_cube3.addObject('HexahedronFEMForceField', name="FEM", youngModulus="2e3", poissonRatio="0.4", method="large")
   sub_cube3.addObject('SubsetMapping', )

   tetra3 = subCube3.addChild('Tetra3')

   tetra3.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetra3.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetra3.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetra3.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")

   visu3 = Tetra3.addChild('Visu3')

   visu3.addObject('TriangleSetTopologyContainer', name="Container")
   visu3.addObject('TriangleSetTopologyModifier', name="Modifier")
   visu3.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   visu3.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
   visu3.addObject('OglModel', name="Visual3", color="1 0.3 0.1 1")
   visu3.addObject('IdentityMapping', input="@../..", output="@Visual3")