Skip to content

SphereROI

Find the primitives (vertex/edge/triangle/tetrahedron) inside a given sphere Supports GPU-side computations using CUDA

Templates:

  • Rigid3d
  • Vec3d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

  • DataEngine

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
computeEdges If true, will compute edge list and index list inside the ROI. 1
computeTriangles If true, will compute triangle list and index list inside the ROI. 1
computeQuads If true, will compute quad list and index list inside the ROI. 1
computeTetrahedra If true, will compute tetrahedra list and index list inside the ROI. 1
tetrahedronIndices Indices of the tetrahedra contained in the ROI
Inputs
centers Center(s) of the sphere(s)
radii Radius(i) of the sphere(s)
direction Edge direction(if edgeAngle > 0)
normal Normal direction of the triangles (if triAngle > 0)
edgeAngle Max angle between the direction of the selected edges and the specified direction 0
triAngle Max angle between the normal of the selected triangle and the specified normal direction 0
position Rest position coordinates of the degrees of freedom
edges Edge Topology
triangles Triangle Topology
quads Quads Topology
tetrahedra Tetrahedron Topology
Outputs
indices Indices of the points contained in the ROI
edgeIndices Indices of the edges contained in the ROI
triangleIndices Indices of the triangles contained in the ROI
quadIndices Indices of the quads contained in the ROI
pointsInROI Points contained in the ROI
edgesInROI Edges contained in the ROI
trianglesInROI Triangles contained in the ROI
quadsInROI Quads contained in the ROI
tetrahedraInROI Tetrahedra contained in the ROI
indicesOut Indices of the points not contained in the ROI
Visualization
drawSphere Draw shpere(s) 0
drawPoints Draw Points 0
drawEdges Draw Edges 0
drawTriangles Draw Triangles 0
drawQuads Draw Quads 0
drawTetrahedra Draw Tetrahedra 0
drawSize rendering size for box and topological elements 1

Links:

Name Description
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used)
slaves Sub-objects used internally by this object
master nullptr for regular objects, or master object for which this object is one sub-objects

Examples

Component/Engine/Select/SphereROI.scn

<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 -9 0">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [SphereROI] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showWireframe" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <Node name="TT">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" name="Volume" />
        <include href="Objects/TetrahedronSetTopology.xml" src="@loader" />
        <SphereROI centers="0 0 0" radii="0.2" drawSphere="1" position="@Volume.rest_position" computeTriangles="0" computeTetrahedra="0" computeEdges="0" name="FixedROI" />
        <DiagonalMass massDensity="5" />
        <FixedProjectiveConstraint indices="@FixedROI.indices" />
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="20" poissonRatio="0.4" method="large" />
        <Node name="T">
            <include href="Objects/TriangleSetTopology.xml" src="@../loader" tags=" " />
            <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
            <TriangularFEMForceField name="FEM" youngModulus="50" poissonRatio="0.3" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
            <TrianglePressureForceField normal="0 -0.2 1" dmin="0.9" dmax="1.1" pressure="0.4 0 0" />
            <TriangleCollisionModel />
            <SphereROI centers="0 0 1" radii="0.2" drawSphere="1" position="@../Volume.position" drawTriangles="1" drawTetrahedra="1" triangles="@Container.triangles" tetrahedra="@../Container.tetrahedra" name="SphereROI" />
            <Node name="Visu">
                <OglModel template="Vec3" name="Visual" material="Default Diffuse 1 0 0 1 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.05", showBoundingTree="0", gravity="0 -9 0")
    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.Geometry")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
    root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
    root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
    root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
    root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
    root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
    root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
    root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showWireframe")
    root.addObject('CollisionPipeline', verbose="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('CollisionResponse', response="PenalityContactForceField")
    root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")

    TT = root.addChild('TT')
    TT.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    TT.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    TT.addObject('MeshGmshLoader', name="loader", filename="mesh/cylinder.msh")
    TT.addObject('MechanicalObject', src="@loader", name="Volume")
    TT.addObject('include', href="Objects/TetrahedronSetTopology.xml", src="@loader")
    TT.addObject('SphereROI', centers="0 0 0", radii="0.2", drawSphere="1", position="@Volume.rest_position", computeTriangles="0", computeTetrahedra="0", computeEdges="0", name="FixedROI")
    TT.addObject('DiagonalMass', massDensity="5")
    TT.addObject('FixedProjectiveConstraint', indices="@FixedROI.indices")
    TT.addObject('TetrahedralCorotationalFEMForceField', name="FEM", youngModulus="20", poissonRatio="0.4", method="large")

    T = TT.addChild('T')
    T.addObject('include', href="Objects/TriangleSetTopology.xml", src="@../loader", tags=" ")
    T.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container")
    T.addObject('TriangularFEMForceField', name="FEM", youngModulus="50", poissonRatio="0.3", method="large")
    T.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="300", damping="1.0")
    T.addObject('TrianglePressureForceField', normal="0 -0.2 1", dmin="0.9", dmax="1.1", pressure="0.4 0 0")
    T.addObject('TriangleCollisionModel')
    T.addObject('SphereROI', centers="0 0 1", radii="0.2", drawSphere="1", position="@../Volume.position", drawTriangles="1", drawTetrahedra="1", triangles="@Container.triangles", tetrahedra="@../Container.tetrahedra", name="SphereROI")

    Visu = T.addChild('Visu')
    Visu.addObject('OglModel', template="Vec3", name="Visual", material="Default Diffuse 1 0 0 1 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
    Visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")