CompareState

Compare State vectors from a reference frame to the associated Mechanical State.

Target: Sofa.Component.Playback

namespace: sofa::component::playback

parents:

• ReadState

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
filename	output file name
interval	time duration between inputs	0
shift	shift between times in the file and times when they will be read	0
loop	set to 'true' to re-read the file when reaching the end	0
Transformation
scalePos	scale the input mechanical object	1
rotation	rotate the input mechanical object	0 0 0
translation	translate the input mechanical object	0 0 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

Examples

CompareState.scn

XMLPython

<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9.81 0">
    <Node name="plugins">
        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
        <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.Playback"/> <!-- Needed to use components [CompareState] -->
        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    </Node>

    <VisualStyle displayFlags="showForceFields showBehaviorModels showVisual showInteractionForceFields" />
    <DefaultAnimationLoop/>

    <!-- Beam under gravity -->
    <Node name="Beam">
        <EulerImplicitSolver/>                
        <SparseLDLSolver />

        <MechanicalObject name="beamMO" template="Vec3" />
        <RegularGridTopology nx="3" ny="3" nz="7" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="7" />
        <UniformMass totalMass="5" />

        <!-- CompareState: read file beamGravity exported with totalMass == 10 -->
        <CompareState name="StateComparator" filename="beamGravity.txt.gz" printLog="0"/>

        <FixedProjectiveConstraint indices="0-8" />
        <TetrahedronFEMForceField name="FEM" youngModulus="100" poissonRatio="0.3" method="large" />
    </Node>

    <Node name="BeamReplay">
        <MechanicalObject name="beamMO" showObject="1"/>
        <RegularGridTopology name="grid" nx="3" ny="3" nz="7" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="7" />
        <ReadState name="StateReader" filename="beamGravity.txt.gz" />

        <Node name="visu">
            <EdgeSetTopologyContainer edges="@../grid.edges"/>
            <EdgeSetTopologyModifier />
            <EdgeSetGeometryAlgorithms template="Vec3" drawEdges="1"/>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", gravity="0 -9.81 0")

   plugins = root.addChild('plugins')

   plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Playback")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")

   root.addObject('VisualStyle', displayFlags="showForceFields showBehaviorModels showVisual showInteractionForceFields")
   root.addObject('DefaultAnimationLoop', )

   beam = root.addChild('Beam')

   beam.addObject('EulerImplicitSolver', )
   beam.addObject('SparseLDLSolver', )
   beam.addObject('MechanicalObject', name="beamMO", template="Vec3")
   beam.addObject('RegularGridTopology', nx="3", ny="3", nz="7", xmin="0", xmax="3", ymin="0", ymax="3", zmin="0", zmax="7")
   beam.addObject('UniformMass', totalMass="5")
   beam.addObject('CompareState', name="StateComparator", filename="beamGravity.txt.gz", printLog="0")
   beam.addObject('FixedProjectiveConstraint', indices="0-8")
   beam.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="100", poissonRatio="0.3", method="large")

   beam_replay = root.addChild('BeamReplay')

   beam_replay.addObject('MechanicalObject', name="beamMO", showObject="1")
   beam_replay.addObject('RegularGridTopology', name="grid", nx="3", ny="3", nz="7", xmin="0", xmax="3", ymin="0", ymax="3", zmin="0", zmax="7")
   beam_replay.addObject('ReadState', name="StateReader", filename="beamGravity.txt.gz")

   visu = BeamReplay.addChild('visu')

   visu.addObject('EdgeSetTopologyContainer', edges="@../grid.edges")
   visu.addObject('EdgeSetTopologyModifier', )
   visu.addObject('EdgeSetGeometryAlgorithms', template="Vec3", drawEdges="1")