ShapeMatching
Compute target positions using shape matching deformation method by Mueller et al.
Templates:
Rigid3dVec3d
Target: Sofa.Component.Engine.Analyze
namespace: sofa::component::engine::analyze
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 |
| iterations | Number of iterations. | 1 |
| affineRatio | Blending between affine and rigid. | 0 |
| fixedweight | weight of fixed particles. | 1 |
| Inputs | ||
| fixedPosition0 | rest positions of non mechanical particles. | |
| fixedPosition | current (fixed) positions of non mechanical particles. | |
| position | Input positions. | |
| cluster | Input clusters. | |
| Outputs | ||
| targetPosition | Computed target 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 |
| mechanicalStates | List of mechanical states to which this component is associated |
| mstate | MechanicalState used by this component |
Examples
Component/Engine/Analyze/ShapeMatching.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 -1 0" dt="0.05" >
<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.Constraint.Projective"/> <!-- Needed to use components [PositionBasedDynamicsProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Analyze"/> <!-- Needed to use components [ClusteringEngine ShapeMatching] -->
<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 [IdentityMapping] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<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 showForceFields" />
<CollisionPipeline verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="dragon" >
<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" />
<MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
<MeshTopology name="topo" src="@loader" />
<MechanicalObject name="dofs" src="@loader" scale="1" dz="10" />
<UniformMass vertexMass="3" />
<ClusteringEngine template="Vec3" name="clustering" radius='1' number='50' position="@topo.position"/>
<ShapeMatching template="Vec3" name="shapeMatching" iterations='1' position="@dofs.position" cluster="@clustering.cluster"/>
<PositionBasedDynamicsProjectiveConstraint template="Vec3" stiffness = '1' position="@shapeMatching.targetPosition"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/dragon.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="red" dz="10" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf">
<MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dz="10" />
<TriangleCollisionModel contactStiffness="1000" />
<LineCollisionModel contactStiffness="1000" />
<PointCollisionModel contactStiffness="1000" />
<IdentityMapping />
</Node>
</Node>
<Node name="Floor">
<MeshOBJLoader name="loader" filename="mesh/floor3.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dy="-10" scale="1.75" />
<TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
<LineCollisionModel name="FloorLine" simulated="0" moving="0" />
<PointCollisionModel name="FloorPoint" simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_0" filename="mesh/floor3.obj" scale="1.75" handleSeams="1" />
<OglModel name="FloorV" src="@meshLoader_0" texturename="textures/brushed_metal.bmp" dy="-10" />
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', gravity="0 -1 0", dt="0.05")
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.Analyze")
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.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop')
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('CollisionPipeline', verbose="0", draw="0")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
dragon = root.addChild('dragon')
dragon.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
dragon.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
dragon.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
dragon.addObject('MeshTopology', name="topo", src="@loader")
dragon.addObject('MechanicalObject', name="dofs", src="@loader", scale="1", dz="10")
dragon.addObject('UniformMass', vertexMass="3")
dragon.addObject('ClusteringEngine', template="Vec3", name="clustering", radius="1", number="50", position="@topo.position")
dragon.addObject('ShapeMatching', template="Vec3", name="shapeMatching", iterations="1", position="@dofs.position", cluster="@clustering.cluster")
dragon.addObject('PositionBasedDynamicsProjectiveConstraint', template="Vec3", stiffness="1", position="@shapeMatching.targetPosition")
Visu = dragon.addChild('Visu')
Visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/dragon.obj", handleSeams="1")
Visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red", dz="10")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
Surf = dragon.addChild('Surf')
Surf.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
Surf.addObject('MeshTopology', src="@loader")
Surf.addObject('MechanicalObject', src="@loader", dz="10")
Surf.addObject('TriangleCollisionModel', contactStiffness="1000")
Surf.addObject('LineCollisionModel', contactStiffness="1000")
Surf.addObject('PointCollisionModel', contactStiffness="1000")
Surf.addObject('IdentityMapping')
Floor = root.addChild('Floor')
Floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor3.obj")
Floor.addObject('MeshTopology', src="@loader")
Floor.addObject('MechanicalObject', src="@loader", dy="-10", scale="1.75")
Floor.addObject('TriangleCollisionModel', name="FloorTriangle", simulated="0", moving="0")
Floor.addObject('LineCollisionModel', name="FloorLine", simulated="0", moving="0")
Floor.addObject('PointCollisionModel', name="FloorPoint", simulated="0", moving="0")
Floor.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/floor3.obj", scale="1.75", handleSeams="1")
Floor.addObject('OglModel', name="FloorV", src="@meshLoader_0", texturename="textures/brushed_metal.bmp", dy="-10")