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VisualPointCloud

Render a point cloud.

Rigid3d

Templates:

  • Rigid3d

Target: Sofa.Component.Visual

namespace: sofa::component::visual

parents:

  • VisualModel

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
enable Display the object or not 1
position The position of the points to display
pointSize The size of the points and frames 1
sphereRadius The radius list of the spheres
color The color of the points
indicesScale The scale of the indices 1
indicesColor The color of the indices
Visualization
drawMode The draw mode: - Point: Coordinates are displayed with points - Sphere: Coordinates are displayed using spheres - Frame: Coordinates are displayed using oriented frames
showIndices Show the indices of the points 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

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.Visual

namespace: sofa::component::visual

parents:

  • VisualModel

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
enable Display the object or not 1
position The position of the points to display
pointSize The size of the points and frames 1
sphereRadius The radius list of the spheres
color The color of the points
indicesScale The scale of the indices 1
indicesColor The color of the indices
Visualization
drawMode The draw mode: - Point: Coordinates are displayed with points - Sphere: Coordinates are displayed using spheres
showIndices Show the indices of the points 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

Examples

VisualPointCloud.scn

<Node name="root" gravity="0 -9.81 0" dt="0.01">

    <Node name="plugins">
        <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.Direct"/> <!-- Needed to use components [BTDLinearSolver,EigenSimplicialLDLT] -->
        <RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] -->
        <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 [BeamFEMForceField,HexahedronFEMForceField] -->
        <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.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [LineAxis,VisualGrid,VisualPointCloud,VisualStyle] -->
    </Node>

    <DefaultAnimationLoop parallelODESolving="true"/>
    <DefaultVisualManagerLoop name="visualLoop"/>
    <VisualStyle displayFlags="showVisual" />
    <VisualGrid name="grid"/>
    <LineAxis size="@grid.size"/>

    <Node name="3d_point">
        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A"/>
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixd"/>
        <MechanicalObject name="DoFs" template="Vec3" />
        <UniformMass name="mass" totalMass="320" />
        <RegularGridTopology name="grid" nx="4" ny="4" nz="10" xmin="-5" xmax="-3" ymin="2" ymax="5" zmin="0" zmax="9" />
        <BoxROI name="box" box="-6 1 -0.0001  -2 6 0.0001"/>
        <FixedProjectiveConstraint indices="@box.indices" />
        <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" method="large" />

        <VisualPointCloud position="@DoFs.position" pointSize="10" drawMode="Point" color="navy"/>
    </Node>

    <Node name="3d_sphere">
        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A"/>
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixd"/>
        <MechanicalObject name="DoFs" template="Vec3" />
        <UniformMass name="mass" totalMass="320" />
        <RegularGridTopology name="grid" nx="4" ny="4" nz="10" xmin="-5" xmax="-3" ymin="-5" ymax="-2" zmin="0" zmax="9" />
        <BoxROI name="box" box="-6 -6 -0.0001  -2 -1 0.0001"/>
        <FixedProjectiveConstraint indices="@box.indices" />
        <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" method="large" />

        <VisualPointCloud position="@DoFs.position" drawMode="Sphere" sphereRadius="0.1" color="lime"/>
    </Node>

    <Node name="rigid3">
        <EulerImplicitSolver rayleighStiffness="0" printLog="false" rayleighMass="0.1"/>
        <BTDLinearSolver template="BTDMatrix6d"/>

        <MechanicalObject template="Rigid3" name="DoFs" position="0 0 1 0 0 0 1  1 0 1 0 0 0 1  2 0 1 0 0 0 1  3 0 1 0 0 0 1" />
        <MeshTopology name="lines" lines="0 1 1 2 2 3" />
        <FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="0" />
        <UniformMass totalMass="4" />
        <BeamFEMForceField name="FEM" radius="0.05" radiusInner="0" youngModulus="20000000" poissonRatio="0.49"/>

        <VisualPointCloud position="@DoFs.position" pointSize="1" template="Rigid3" drawMode="Frame"/>
    </Node>
</Node>

def createScene(root_node):

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

   plugins = root.addChild('plugins')

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

   root.addObject('DefaultAnimationLoop', parallelODESolving="true")
   root.addObject('DefaultVisualManagerLoop', name="visualLoop")
   root.addObject('VisualStyle', displayFlags="showVisual")
   root.addObject('VisualGrid', name="grid")
   root.addObject('LineAxis', size="@grid.size")

   3d_point = root.addChild('3d_point')

   3d_point.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   3d_point.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrixd", name="A")
   3d_point.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixd")
   3d_point.addObject('MechanicalObject', name="DoFs", template="Vec3")
   3d_point.addObject('UniformMass', name="mass", totalMass="320")
   3d_point.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="10", xmin="-5", xmax="-3", ymin="2", ymax="5", zmin="0", zmax="9")
   3d_point.addObject('BoxROI', name="box", box="-6 1 -0.0001  -2 6 0.0001")
   3d_point.addObject('FixedProjectiveConstraint', indices="@box.indices")
   3d_point.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
   3d_point.addObject('VisualPointCloud', position="@DoFs.position", pointSize="10", drawMode="Point", color="navy")

   3d_sphere = root.addChild('3d_sphere')

   3d_sphere.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   3d_sphere.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrixd", name="A")
   3d_sphere.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixd")
   3d_sphere.addObject('MechanicalObject', name="DoFs", template="Vec3")
   3d_sphere.addObject('UniformMass', name="mass", totalMass="320")
   3d_sphere.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="10", xmin="-5", xmax="-3", ymin="-5", ymax="-2", zmin="0", zmax="9")
   3d_sphere.addObject('BoxROI', name="box", box="-6 -6 -0.0001  -2 -1 0.0001")
   3d_sphere.addObject('FixedProjectiveConstraint', indices="@box.indices")
   3d_sphere.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
   3d_sphere.addObject('VisualPointCloud', position="@DoFs.position", drawMode="Sphere", sphereRadius="0.1", color="lime")

   rigid3 = root.addChild('rigid3')

   rigid3.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
   rigid3.addObject('BTDLinearSolver', template="BTDMatrix6d")
   rigid3.addObject('MechanicalObject', template="Rigid3", name="DoFs", position="0 0 1 0 0 0 1  1 0 1 0 0 0 1  2 0 1 0 0 0 1  3 0 1 0 0 0 1")
   rigid3.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3")
   rigid3.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="0")
   rigid3.addObject('UniformMass', totalMass="4")
   rigid3.addObject('BeamFEMForceField', name="FEM", radius="0.05", radiusInner="0", youngModulus="20000000", poissonRatio="0.49")
   rigid3.addObject('VisualPointCloud', position="@DoFs.position", pointSize="1", template="Rigid3", drawMode="Frame")