ComplianceMatrixExporter

Export the compliance matrix from a constraint solver.

Target: SofaMatrix

namespace: sofa::component::constraintset

parents:

• BaseSimulationExporter

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
filename	Path or filename where to export the data. If missing the name of the component is used.
exportEveryNumberOfSteps	export file only at specified number of steps (0=disable, default=0)	0
exportAtBegin	export file before the simulation starts, once the simulation is initialized (default=false)	0
exportAtEnd	export file when the simulation is over and cleanup is called, i.e. just before deleting the simulation (default=false)	0
enable	Enable or disable the component. (default=true)	1
format	File format	txt
precision	Number of digits used to write an entry of the matrix, default is 6	6

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
constraintSolver	Constraint solver used to export its compliance matrix	ConstraintSolverImpl

Examples

ComplianceMatrixExporter.scn

XMLPython

<Node   name="Root" gravity="0 -10 0" time="0" animate="0"  dt="0.01" >
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [GenericConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [UniformLagrangianConstraint] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
    <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.Direct"/> <!-- Needed to use components [EigenSimplicialLLT] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [DistanceMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <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.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="SofaMatrix"/> <!-- Needed to use components [ComplianceMatrixExporter] -->

    <VisualStyle displayFlags="hideVisualModels showBehaviorModels showMappings showForceFields" />
    <FreeMotionAnimationLoop solveVelocityConstraintFirst="true" />
    <GenericConstraintSolver tolerance="1e-9" maxIterations="1000"/>
    <ComplianceMatrixExporter exportEveryNumberOfSteps="1" filename="compliance" printLog="true" format="csv" precision="12"/>

    <StringMeshCreator name="loader" resolution="20" scale3d="1 1 1" />

    <TransformEngine name="translate" input_position="@loader.position" translation="0 0 0" />
    <EulerImplicitSolver />
    <EigenSimplicialLLT />
    <GenericConstraintCorrection />

    <EdgeSetTopologyContainer position="@translate.output_position" edges="@loader.edges" />
    <MechanicalObject name="defoDOF" template="Vec3d" showObject="1" />
    <EdgeSetGeometryAlgorithms drawEdges="true" />
    <FixedProjectiveConstraint indices="0" />
    <DiagonalMass  name="mass" totalMass="1e-3"/>
    <Node name="extensionsNode" >
        <MechanicalObject template="Vec1d"  name="extensionsDOF" />
        <DistanceMapping  name="distanceMapping" />
        <UniformLagrangianConstraint template="Vec1d" iterative="false" />
    </Node>

</Node>

def createScene(root_node):

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

   root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
   root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="SofaMatrix")
   root.addObject('VisualStyle', displayFlags="hideVisualModels showBehaviorModels showMappings showForceFields")
   root.addObject('FreeMotionAnimationLoop', solveVelocityConstraintFirst="true")
   root.addObject('GenericConstraintSolver', tolerance="1e-9", maxIterations="1000")
   root.addObject('ComplianceMatrixExporter', exportEveryNumberOfSteps="1", filename="compliance", printLog="true", format="csv", precision="12")
   root.addObject('StringMeshCreator', name="loader", resolution="20", scale3d="1 1 1")
   root.addObject('TransformEngine', name="translate", input_position="@loader.position", translation="0 0 0")
   root.addObject('EulerImplicitSolver', )
   root.addObject('EigenSimplicialLLT', )
   root.addObject('GenericConstraintCorrection', )
   root.addObject('EdgeSetTopologyContainer', position="@translate.output_position", edges="@loader.edges")
   root.addObject('MechanicalObject', name="defoDOF", template="Vec3d", showObject="1")
   root.addObject('EdgeSetGeometryAlgorithms', drawEdges="true")
   root.addObject('FixedProjectiveConstraint', indices="0")
   root.addObject('DiagonalMass', name="mass", totalMass="1e-3")

   extensions_node = Root.addChild('extensionsNode')

   extensions_node.addObject('MechanicalObject', template="Vec1d", name="extensionsDOF")
   extensions_node.addObject('DistanceMapping', name="distanceMapping")
   extensions_node.addObject('UniformLagrangianConstraint', template="Vec1d", iterative="false")