DisplacementMatrixEngine
Converts a vector of Rigid to a vector of displacement matrices.
Templates:
Rigid3d
Target: Sofa.Component.Engine.Transform
namespace: sofa::component::engine::transform
parents:
DisplacementTransformEngine
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 | ||
| x0 | Rest position | |
| x | Current position | |
| scales | Scale transformation added to the rigid transformation | |
| Outputs | ||
| displaceMats | Displacement transforms with respect to original rigid positions | |
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/DisplacementMatrixEngine.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" animate="1" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [LinearMovementProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [DisplacementTransformEngine] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
<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.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="Sofa.GL.Component.Shader"/> <!-- Needed to use components [OglFloat4Attribute OglInt4Attribute OglMatrix4VectorVariable OglShader] -->
<DefaultAnimationLoop/>
<EulerExplicitSolver name="odesolver" />
<Node name="DeformableObject" >
<MechanicalObject template="Rigid3" name="Bones" position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1" rest_position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1" showObject="1" showObjectScale="0.5" />
<LinearMovementProjectiveConstraint template="Rigid3" name="BoneTrajectories" indices="1" keyTimes="0 1 2 3 4 5 6 7 8 9 10 11 12 20" movements=" 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0" />
<Node name="StaticMesh" >
<MechanicalObject template="Vec3" name="2" position="-1 -2 0 1 -2 0 -1 0 0 1 0 0 -1 2 0 1 2 0" />
<MeshTopology triangles="0 1 2 2 1 3 2 3 4 4 3 5 " />
<Node name="GPUMesh" >
<OglModel template="Vec3" />
<IdentityMapping template="Vec3,Vec3" mapForces="0" mapConstraints="0" mapMasses="0" />
<DisplacementTransformEngine name="BoneDisplacements" template="Rigid3,Mat4x4" x0="@../../Bones.rest_position" x="@../../Bones.position" />
<OglShader name="SkinningShader" fileFragmentShaders="['shaders/linearBlendSkinning.frag']" fileVertexShaders="['shaders/linearBlendSkinning.vert']"/>
<OglMatrix4VectorVariable id="boneMatrix" value="@BoneDisplacements.displacements" transpose="1" />
<OglInt4Attribute id="indices" value="0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0" />
<OglFloat4Attribute id="weights" value="1 0 0 0 1 0 0 0 0.5 0.5 0 0 0.5 0.5 0 0 1 0 0 0 1 0 0 0" />
</Node>
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.01", animate="1")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Shader")
root.addObject('DefaultAnimationLoop')
root.addObject('EulerExplicitSolver', name="odesolver")
DeformableObject = root.addChild('DeformableObject')
DeformableObject.addObject('MechanicalObject', template="Rigid3", name="Bones", position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1", rest_position="0 -2 0 0 0 0 1 0 2 0 0 0 0 1", showObject="1", showObjectScale="0.5")
DeformableObject.addObject('LinearMovementProjectiveConstraint', template="Rigid3", name="BoneTrajectories", indices="1", keyTimes="0 1 2 3 4 5 6 7 8 9 10 11 12 20", movements=" 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 0 0 0 0 0 0 1.5708 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0")
StaticMesh = DeformableObject.addChild('StaticMesh')
StaticMesh.addObject('MechanicalObject', template="Vec3", name="2", position="-1 -2 0 1 -2 0 -1 0 0 1 0 0 -1 2 0 1 2 0")
StaticMesh.addObject('MeshTopology', triangles="0 1 2 2 1 3 2 3 4 4 3 5 ")
GPUMesh = StaticMesh.addChild('GPUMesh')
GPUMesh.addObject('OglModel', template="Vec3")
GPUMesh.addObject('IdentityMapping', template="Vec3,Vec3", mapForces="0", mapConstraints="0", mapMasses="0")
GPUMesh.addObject('DisplacementTransformEngine', name="BoneDisplacements", template="Rigid3,Mat4x4", x0="@../../Bones.rest_position", x="@../../Bones.position")
GPUMesh.addObject('OglShader', name="SkinningShader", fileFragmentShaders="['shaders/linearBlendSkinning.frag']", fileVertexShaders="['shaders/linearBlendSkinning.vert']")
GPUMesh.addObject('OglMatrix4VectorVariable', id="boneMatrix", value="@BoneDisplacements.displacements", transpose="1")
GPUMesh.addObject('OglInt4Attribute', id="indices", value="0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 1 0 0 0 1 0 0 0")
GPUMesh.addObject('OglFloat4Attribute', id="weights", value="1 0 0 0 1 0 0 0 0.5 0.5 0 0 0.5 0.5 0 0 1 0 0 0 1 0 0 0")