DistanceMultiMapping

Mapping point positions from several mechanical states to distances (in distance unit).

Rigid3d,Vec1d

Templates:

• Rigid3d,Vec1d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

• MultiMapping

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
geometricStiffness	Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed -Stabilized: the exact geometric stiffness is approximated in order to improve stability	Stabilized
computeDistance	if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them	0
restLengths	Rest lengths of the connections
indexPairs	list of couples (parent index + index in the parent)
Visualization
showObjectScale	Scale for object display	0
showColor	Color for object display. (default=[1.0,1.0,0.0,1.0])	1 1 0 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
input	Input Object(s)	State<Rigid3d>
output	Output Object(s)	State<Vec1d>
topology	link to the topology container	BaseMeshTopology

Vec3d,Vec1d

Templates:

• Vec3d,Vec1d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

• MultiMapping

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
geometricStiffness	Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed -Stabilized: the exact geometric stiffness is approximated in order to improve stability	Stabilized
computeDistance	if 'computeDistance = true', then rest length of each element equal 0, otherwise rest length is the initial length of each of them	0
restLengths	Rest lengths of the connections
indexPairs	list of couples (parent index + index in the parent)
Visualization
showObjectScale	Scale for object display	0
showColor	Color for object display. (default=[1.0,1.0,0.0,1.0])	1 1 0 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
input	Input Object(s)	State<Vec3d>
output	Output Object(s)	State<Vec1d>
topology	link to the topology container	BaseMeshTopology

Examples

DistanceMultiMapping.scn

XMLPython

<?xml version="1.0"?>
<Node name="Root" gravity="0 -10 0" time="0" animate="0"  dt="0.01">

    <Node name="plugins">
        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [StringMeshCreator] -->
        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [DistanceMapping DistanceMultiMapping] -->
        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
        <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [UniformVelocityDampingForceField] -->
        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    </Node>

    <DefaultVisualManagerLoop/>
    <VisualStyle displayFlags="showVisualModels showBehaviorModels showMappings showForceFields showMechanicalMappings" />

    <DefaultAnimationLoop/>
    <StringMeshCreator name="loader" resolution="20" />

    <EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1"/>
    <CGLinearSolver iterations="2500" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

    <Node  name="springs0" >
        <TransformEngine name="translate" input_position="@../loader.position" translation="0 0 0" />

        <EdgeSetTopologyContainer name="topology" position="@translate.output_position" edges="@../loader.edges" />
        <MechanicalObject name="defoDOF" template="Vec3" />
        <EdgeSetGeometryAlgorithms drawEdges="true" />
        <FixedProjectiveConstraint indices="0" />
        <DiagonalMass  name="mass" totalMass="1e-2"/>
        <UniformVelocityDampingForceField template="Vec3" name="uniformVelocityDampingFF0" implicit="true" dampingCoefficient="0.005"/>
        <Node name="extensionsNode" >
            <MechanicalObject template="Vec1" name="extensionsDOF" />
            <DistanceMapping name="distanceMapping" topology="@../topology" input="@../defoDOF" output="@extensionsDOF" geometricStiffness="0" applyRestPosition="true" computeDistance="true"/>
            <RestShapeSpringsForceField template="Vec1" stiffness="1000"/>
        </Node>
    </Node>

    <Node  name="springs1" >
        <TransformEngine name="translate" input_position="@../loader.position" translation="1.2 0 0" />

        <EdgeSetTopologyContainer name="topology" position="@translate.output_position" edges="@../loader.edges" />
        <MechanicalObject name="defoDOF" template="Vec3" />
        <EdgeSetGeometryAlgorithms drawEdges="true" />
        <FixedProjectiveConstraint indices="19" />
        <DiagonalMass  name="mass" totalMass="1e-2"/>
        <UniformVelocityDampingForceField template="Vec3" name="uniformVelocityDampingFF0" implicit="true" dampingCoefficient="0.005"/>
        <Node name="extensionsNode" >
            <MechanicalObject template="Vec1" name="extensionsDOF" />
            <DistanceMapping name="distanceMapping" topology="@../topology" input="@../defoDOF" output="@extensionsDOF" geometricStiffness="0" applyRestPosition="true" computeDistance="true"/>
            <RestShapeSpringsForceField template="Vec1" stiffness="1000"/>
        </Node>
    </Node>

    <Node name="connection">
        <MechanicalObject template="Vec1" name="connectionDOF" />
        <EdgeSetTopologyContainer edges="0 1"/>
        <DistanceMultiMapping template="Vec3,Vec1" input="@../springs0 @../springs1" output="@connectionDOF" indexPairs="0 19 1 0" restLengths="1" geometricStiffness="0" applyRestPosition="true" computeDistance="true"/>
        <RestShapeSpringsForceField template="Vec1" stiffness="1"/>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('Root', gravity="0 -10 0", time="0", animate="0", dt="0.01")

   plugins = Root.addChild('plugins')

   plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")

   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('VisualStyle', displayFlags="showVisualModels showBehaviorModels showMappings showForceFields showMechanicalMappings")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('StringMeshCreator', name="loader", resolution="20")
   root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
   root.addObject('CGLinearSolver', iterations="2500", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")

   springs0 = Root.addChild('springs0')

   springs0.addObject('TransformEngine', name="translate", input_position="@../loader.position", translation="0 0 0")
   springs0.addObject('EdgeSetTopologyContainer', name="topology", position="@translate.output_position", edges="@../loader.edges")
   springs0.addObject('MechanicalObject', name="defoDOF", template="Vec3")
   springs0.addObject('EdgeSetGeometryAlgorithms', drawEdges="true")
   springs0.addObject('FixedProjectiveConstraint', indices="0")
   springs0.addObject('DiagonalMass', name="mass", totalMass="1e-2")
   springs0.addObject('UniformVelocityDampingForceField', template="Vec3", name="uniformVelocityDampingFF0", implicit="true", dampingCoefficient="0.005")

   extensions_node = springs0.addChild('extensionsNode')

   extensions_node.addObject('MechanicalObject', template="Vec1", name="extensionsDOF")
   extensions_node.addObject('DistanceMapping', name="distanceMapping", topology="@../topology", input="@../defoDOF", output="@extensionsDOF", geometricStiffness="0", applyRestPosition="true", computeDistance="true")
   extensions_node.addObject('RestShapeSpringsForceField', template="Vec1", stiffness="1000")

   springs1 = Root.addChild('springs1')

   springs1.addObject('TransformEngine', name="translate", input_position="@../loader.position", translation="1.2 0 0")
   springs1.addObject('EdgeSetTopologyContainer', name="topology", position="@translate.output_position", edges="@../loader.edges")
   springs1.addObject('MechanicalObject', name="defoDOF", template="Vec3")
   springs1.addObject('EdgeSetGeometryAlgorithms', drawEdges="true")
   springs1.addObject('FixedProjectiveConstraint', indices="19")
   springs1.addObject('DiagonalMass', name="mass", totalMass="1e-2")
   springs1.addObject('UniformVelocityDampingForceField', template="Vec3", name="uniformVelocityDampingFF0", implicit="true", dampingCoefficient="0.005")

   extensions_node = springs1.addChild('extensionsNode')

   extensions_node.addObject('MechanicalObject', template="Vec1", name="extensionsDOF")
   extensions_node.addObject('DistanceMapping', name="distanceMapping", topology="@../topology", input="@../defoDOF", output="@extensionsDOF", geometricStiffness="0", applyRestPosition="true", computeDistance="true")
   extensions_node.addObject('RestShapeSpringsForceField', template="Vec1", stiffness="1000")

   connection = Root.addChild('connection')

   connection.addObject('MechanicalObject', template="Vec1", name="connectionDOF")
   connection.addObject('EdgeSetTopologyContainer', edges="0 1")
   connection.addObject('DistanceMultiMapping', template="Vec3,Vec1", input="@../springs0 @../springs1", output="@connectionDOF", indexPairs="0 19 1 0", restLengths="1", geometricStiffness="0", applyRestPosition="true", computeDistance="true")
   connection.addObject('RestShapeSpringsForceField', template="Vec1", stiffness="1")