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IdentityMapping

Special case of mapping where the child points are the same as the parent points Supports GPU-side computations using CUDA

Templates:

  • Rigid2d,Rigid2d
  • Rigid2d,Vec2d
  • Rigid3d,Rigid3d
  • Rigid3d,Vec3d
  • Vec1d,Vec1d
  • Vec2d,Vec2d
  • Vec3d,Vec3d
  • Vec6d,Vec3d
  • Vec6d,Vec6d

Target: Sofa.Component.Mapping.Linear

namespace: sofa::component::mapping::linear

parents:

  • CRTPLinearMapping

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
mapForces Are forces mapped ? 1
mapConstraints Are constraints mapped ? 1
mapMasses Are masses mapped ? 1
mapMatrices Are matrix explicit mapped? 0
applyRestPosition set to true to apply this mapping to restPosition at init 0

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
input Input object to map
output Output object to map

Examples

Component/Mapping/Linear/IdentityMapping.scn

<!-- Mechanical MassSpring Group Basic Example -->
<Node name="root" 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 [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.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 [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TriangleFEMForceField] -->
    <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.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <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 showMappings" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <Node name="tshirt">
        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/tshirt_0.msh" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" scale="10" />
        <include href="Objects/TriangleSetTopology.xml" src="@loader" />
        <UniformMass vertexMass="1" />
        <FixedProjectiveConstraint indices="38 39 40 41 42 43 123 124 137" />
        <TriangleFEMForceField name="FEM" youngModulus="50000" poissonRatio="0.3" method="large" />
        <TriangleCollisionModel />
        <Node name="Visu">
            <OglModel name="Visual" color="red" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', 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.Constraint.Projective")
    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.Dynamic")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showMappings")
    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")

    tshirt = root.addChild('tshirt')
    tshirt.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
    tshirt.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")
    tshirt.addObject('MeshGmshLoader', name="loader", filename="mesh/tshirt_0.msh")
    tshirt.addObject('MeshTopology', src="@loader")
    tshirt.addObject('MechanicalObject', src="@loader", scale="10")
    tshirt.addObject('include', href="Objects/TriangleSetTopology.xml", src="@loader")
    tshirt.addObject('UniformMass', vertexMass="1")
    tshirt.addObject('FixedProjectiveConstraint', indices="38 39 40 41 42 43 123 124 137")
    tshirt.addObject('TriangleFEMForceField', name="FEM", youngModulus="50000", poissonRatio="0.3", method="large")
    tshirt.addObject('TriangleCollisionModel')

    Visu = tshirt.addChild('Visu')
    Visu.addObject('OglModel', name="Visual", color="red")
    Visu.addObject('IdentityMapping', input="@..", output="@Visual")