SubsetMultiMapping

Compute a subset of the input MechanicalObjects according to a dof index list.

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
indexPairs	list of couples (parent index + index in the parent)

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>

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 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
indexPairs	list of couples (parent index + index in the parent)

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<Vec3d>

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 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
indexPairs	list of couples (parent index + index in the parent)

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<Vec1d>
output	Output Object(s)	State<Vec1d>

Vec2d,Vec2d

Templates:

• Vec2d,Vec2d

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
indexPairs	list of couples (parent index + index in the parent)

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<Vec2d>
output	Output Object(s)	State<Vec2d>

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
indexPairs	list of couples (parent index + index in the parent)

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

SubsetMultiMapping.scn

XMLPython

<?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 [SubsetMultiMapping] -->
    <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" />

    <CollisionPipeline/>
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <DiscreteIntersection/>
    <DefaultAnimationLoop/>


    <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"/>
                <SubsetMultiMapping template="Vec3,Vec3" input="@../../dof1 @../dof2" output="@./dofall" indexPairs="0 0 0 1 1 0 1 1"/>
                <SphereCollisionModel radius="0.3" selfCollision="1"/>
                <UniformMass vertexMass="1" />
                <ConstantForceField indices="0" forces="1 0 0"/>
            </Node>

        </Node>

    </Node>

    <!--    converting  Rigid -> Vec in SubsetMultiMapping  -->
    <Node name="rigid1" activated="1">
        <GridMeshCreator name="loader" filename="nofile" resolution="2 2"  translation="0 2 0"/>
        <MeshTopology src="@loader" />
        <MechanicalObject template="Rigid3" src="@loader" name="dof1" />

        <Node name="origid2">
            <GridMeshCreator name="loader" filename="nofile" resolution="2 2" translation="2 2 0" />
            <MeshTopology src="@loader" />
            <MechanicalObject template="Rigid3" src="@loader"  name="dof2"/>

            <Node name="concatenation">
                <MechanicalObject template="Vec3" name="dofall" showObject="1"/>
                <SubsetMultiMapping template="Rigid3,Vec3" input="@../../dof1 @../dof2" output="@./dofall" indexPairs="0 0 0 1 1 0 1 1"/>
                <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('CollisionPipeline', )
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )
   root.addObject('DefaultAnimationLoop', )
   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('SubsetMultiMapping', template="Vec3,Vec3", input="@../../dof1 @../dof2", output="@./dofall", indexPairs="0 0 0 1 1 0 1 1")
   concatenation.addObject('SphereCollisionModel', radius="0.3", selfCollision="1")
   concatenation.addObject('UniformMass', vertexMass="1")
   concatenation.addObject('ConstantForceField', indices="0", forces="1 0 0")

   rigid1 = root.addChild('rigid1', activated="1")

   rigid1.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2", translation="0 2 0")
   rigid1.addObject('MeshTopology', src="@loader")
   rigid1.addObject('MechanicalObject', template="Rigid3", src="@loader", name="dof1")

   origid2 = rigid1.addChild('origid2')

   origid2.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2", translation="2 2 0")
   origid2.addObject('MeshTopology', src="@loader")
   origid2.addObject('MechanicalObject', template="Rigid3", src="@loader", name="dof2")

   concatenation = origid2.addChild('concatenation')

   concatenation.addObject('MechanicalObject', template="Vec3", name="dofall", showObject="1")
   concatenation.addObject('SubsetMultiMapping', template="Rigid3,Vec3", input="@../../dof1 @../dof2", output="@./dofall", indexPairs="0 0 0 1 1 0 1 1")
   concatenation.addObject('SphereCollisionModel', radius="0.3", selfCollision="1")
   concatenation.addObject('UniformMass', vertexMass="1")
   concatenation.addObject('ConstantForceField', indices="0", forces="1 0 0")