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TransformEngine

This component belongs to the category of Engines. The TransformEngine transforms the positions of one DataFields into new positions after applying a transformation. This transformation can be either: translation, rotation or scale.

Input Data

  • input_position: input array of 3d points Output Data
  • output_position: output array of 3d points

Additional Parameter

  • translation: Vector3 defining the translation to be applied
  • rotation: Vector3 defining the rotation to be applied
  • scale: Vector3 describing the scale to be applied

Examples

This component is used as follows in XML format:

<TransformEngine name="translationEngine" template="Vec3d" translation="10 0 0" input_position="@meshLoader.position" />
<MechanicalObject name="transform" template="Vec3d" position="@translationEngine.output_position" />

or in python:

node.addObject("TransformEngine", name="translationEngine", template="Vec3d", translation="10 0 0", input_position="@meshLoader.position")
node.addObject("MechanicalObject", name="transform", template="Vec3d", position="@translationEngine.output_position")

An example scene involving the TransformEngine engine is available in examples/Component/Engine/Transform/TransformEngine.scn

Target: Sofa.Component.Engine.Transform

namespace: sofa::component::engine::transform

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
Inputs
input_position input array of 3d points
translation translation vector 0 0 0
rotation rotation vector 0 0 0
quaternion rotation quaternion 0 0 0 1
scale scale factor 1 1 1
inverse true to apply inverse transformation 0
Outputs
output_position output array of 3d points

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/Transform/TransformEngine.scn

<Node name="Root" gravity="0 0 0" dt="0.02">
    <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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <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 [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 [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showVisual" />
    <CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <!-- Using the Transform Engine on the independent MechanicalState -->
    <Node name="TransformedState" gravity="0 -9.81 0">
        <EulerImplicitSolver name="default12" rayleighStiffness="0.01"  rayleighMass="0.1" />
        <CGLinearSolver template="GraphScattered" name="default13" iterations="25" threshold="1e-08" tolerance="1e-05"/>
        <SparseGridTopology name="default14" fileTopology="mesh/doubleBall.obj" n="6 6 6" />
        <TransformEngine name="transform" template="Vec3" translation="10 0 0" rotation="0 0 90" scale="0.5 1 2" input_position="@[-1].position" />
        <MechanicalObject template="Vec3" name="dofTransformed" position="@[-1].output_position" restScale="1" />
        <UniformMass name="default16" totalMass="5" />
        <HexahedronFEMForceField template="Vec3" name="FEM" method="polar" poissonRatio="0.3" youngModulus="5000" />
        <Node name="VisualNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/doubleBall.obj" handleSeams="1" />
            <OglModel template="Vec3" name="Visual" src="@meshLoader_0" texturename="textures/board.png" material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
            <BarycentricMapping template="Vec3,Vec3" name="default17" input="@.." output="@Visual" />
        </Node>
        <Node name="CollisionNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="loader" filename="mesh/doubleBall.obj" />
            <MeshTopology src="@loader" name="default18" />
            <MechanicalObject src="@loader" template="Vec3" name="default19" restScale="1" />
            <TriangleCollisionModel name="default20" />
            <LineCollisionModel name="default21" />
            <PointCollisionModel name="default22" />
            <BarycentricMapping template="Vec3,Vec3" name="default23" />
        </Node>
    </Node>
    <Node name="VisualModel">
        <MeshOBJLoader name="ObjLoader" filename="mesh/floor3.obj" />
        <TransformEngine name="transform" template="Vec3" translation="5 0 0" rotation="0 0 -90" scale="0.1 0.3 0.1" input_position="@[-1].position" />
        <OglModel name="VisualModel" src="@./ObjLoader" position="@[-1].output_position" texturename="textures/floor.bmp" />
    </Node>
</Node>

def createScene(rootNode):

    Root = rootNode.addChild('Root', gravity="0 0 0", dt="0.02")
    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.Engine.Transform")
    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.ODESolver.Backward")
    Root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
    Root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    Root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    Root.addObject('DefaultAnimationLoop')
    Root.addObject('VisualStyle', displayFlags="showVisual")
    Root.addObject('CollisionPipeline', name="DefaultCollisionPipeline", verbose="0", draw="0", depth="6")
    Root.addObject('BruteForceBroadPhase')
    Root.addObject('BVHNarrowPhase')
    Root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
    Root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

    TransformedState = Root.addChild('TransformedState', gravity="0 -9.81 0")
    TransformedState.addObject('EulerImplicitSolver', name="default12", rayleighStiffness="0.01", rayleighMass="0.1")
    TransformedState.addObject('CGLinearSolver', template="GraphScattered", name="default13", iterations="25", threshold="1e-08", tolerance="1e-05")
    TransformedState.addObject('SparseGridTopology', name="default14", fileTopology="mesh/doubleBall.obj", n="6 6 6")
    TransformedState.addObject('TransformEngine', name="transform", template="Vec3", translation="10 0 0", rotation="0 0 90", scale="0.5 1 2", input_position="@[-1].position")
    TransformedState.addObject('MechanicalObject', template="Vec3", name="dofTransformed", position="@[-1].output_position", restScale="1")
    TransformedState.addObject('UniformMass', name="default16", totalMass="5")
    TransformedState.addObject('HexahedronFEMForceField', template="Vec3", name="FEM", method="polar", poissonRatio="0.3", youngModulus="5000")

    VisualNode = TransformedState.addChild('VisualNode', gravity="0 -9.81 0")
    VisualNode.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/doubleBall.obj", handleSeams="1")
    VisualNode.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_0", texturename="textures/board.png", material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
    VisualNode.addObject('BarycentricMapping', template="Vec3,Vec3", name="default17", input="@..", output="@Visual")

    CollisionNode = TransformedState.addChild('CollisionNode', gravity="0 -9.81 0")
    CollisionNode.addObject('MeshOBJLoader', name="loader", filename="mesh/doubleBall.obj")
    CollisionNode.addObject('MeshTopology', src="@loader", name="default18")
    CollisionNode.addObject('MechanicalObject', src="@loader", template="Vec3", name="default19", restScale="1")
    CollisionNode.addObject('TriangleCollisionModel', name="default20")
    CollisionNode.addObject('LineCollisionModel', name="default21")
    CollisionNode.addObject('PointCollisionModel', name="default22")
    CollisionNode.addObject('BarycentricMapping', template="Vec3,Vec3", name="default23")

    VisualModel = Root.addChild('VisualModel')
    VisualModel.addObject('MeshOBJLoader', name="ObjLoader", filename="mesh/floor3.obj")
    VisualModel.addObject('TransformEngine', name="transform", template="Vec3", translation="5 0 0", rotation="0 0 -90", scale="0.1 0.3 0.1", input_position="@[-1].position")
    VisualModel.addObject('OglModel', name="VisualModel", src="@./ObjLoader", position="@[-1].output_position", texturename="textures/floor.bmp")