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ArticulatedHierarchyBVHController

Implements a handler that controls the values of the articulations of an articulated hierarchy container using a .bvh file.

Target: ArticulatedSystemPlugin

namespace: sofa::component::controller

parents:

  • ArticulatedHierarchyController

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
handleEventTriggersUpdate Event handling frequency controls the controller update frequency 0
articulationsIndices Indices of articulations controlled by the keyboard
bindingKeys Keys to press to control the articulations
angleDelta Angle incrementation due to each user interaction 0.01
propagateUserInteraction Says wether or not the user interaction is local on the articulations, or must be propagated to children recursively 0
useExternalTime use the external time line 0
externalTime value of the External Time 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

ArticulatedHierarchyBVHController.scn

<?xml version="1.0" ?>
<Node name="root" gravity="0 -.98 0" dt="0.5">
    <VisualStyle displayFlags="showVisual showBehaviorModels" />
    <RequiredPlugin name="ArticulatedSystemPlugin"/> <!-- Needed to use components [ArticulatedHierarchyBVHController ArticulatedHierarchyContainer ArticulatedSystemMapping] -->
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultVisualManagerLoop />
    <FreeMotionAnimationLoop />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>

    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.5" />
    <CollisionResponse name="Response" response="FrictionContactConstraint" />
    <LCPConstraintSolver maxIt="1000" tolerance="0.001" />
    <Node name="articulatedObject1">
        <MechanicalObject name="ArticulatedObject" template="Vec1d" />
        <Node name="6D_DOFs1">
            <MechanicalObject name="6D_Dof" template="Rigid3d" />
            <UniformMass totalMass="0.5" />
            <ArticulatedSystemMapping input1="@../ArticulatedObject" input2="" output="@6D_Dof" />
        </Node>
        <ArticulatedHierarchyContainer filename="bvh/manWalking.bvh" />
        <ArticulatedHierarchyBVHController />
    </Node>
    <Node name="Floor">
        <MeshOBJLoader name="loader" filename="mesh/floor.obj" />
        <OglModel name="FloorV" src="@loader" texturename="textures/floor.bmp" scale="2" dy="-40.0" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -.98 0", dt="0.5")

   root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels")
   root.addObject('RequiredPlugin', name="ArticulatedSystemPlugin")
   root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
   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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
   root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('FreeMotionAnimationLoop', )
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="1.0", contactDistance="0.5")
   root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
   root.addObject('LCPConstraintSolver', maxIt="1000", tolerance="0.001")

   articulated_object1 = root.addChild('articulatedObject1')

   articulated_object1.addObject('MechanicalObject', name="ArticulatedObject", template="Vec1d")

   6_d__do_fs1 = articulatedObject1.addChild('6D_DOFs1')

   6_d__do_fs1.addObject('MechanicalObject', name="6D_Dof", template="Rigid3d")
   6_d__do_fs1.addObject('UniformMass', totalMass="0.5")
   6_d__do_fs1.addObject('ArticulatedSystemMapping', input1="@../ArticulatedObject", input2="", output="@6D_Dof")

   articulated_object1.addObject('ArticulatedHierarchyContainer', filename="bvh/manWalking.bvh")
   articulated_object1.addObject('ArticulatedHierarchyBVHController', )

   floor = root.addChild('Floor')

   floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor.obj")
   floor.addObject('OglModel', name="FloorV", src="@loader", texturename="textures/floor.bmp", scale="2", dy="-40.0")