IdentityMultiMapping

Concatenate several States together

Templates:

• Rigid3d,Rigid3d
• Vec3d,Vec3d

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(s)
output	Output Object(s)

Examples

Component/Mapping/Linear/IdentityMultiMapping.scn

XMLPython

<?xml version="1.0"?>
<Node name="root" dt="0.02" gravity="0 0 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 [DiscreteIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [GridMeshCreator] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMultiMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
    <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] -->

    <VisualStyle displayFlags="showBehaviorModels showCollisionModels showForceFields" />
    <DefaultAnimationLoop/>

    <CollisionPipeline/>
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <DiscreteIntersection/>


    <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
    <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>


    <Node name="object1">        
        <GridMeshCreator name="loader" filename="nofile" resolution="2 2" />
        <MeshTopology src="@loader" />
        <MechanicalObject template="Vec3" src="@loader" name="dof1" />

        <Node name="object2">        
            <GridMeshCreator name="loader" filename="nofile" resolution="2 2" translation="2 0 0" />
            <MeshTopology src="@loader" />
            <MechanicalObject template="Vec3" src="@loader"  name="dof2"/>

            <Node name="concatenation">
                <MechanicalObject template="Vec3" name="dofall" showObject="1"/>
                <IdentityMultiMapping template="Vec3,Vec3" input="@../../dof1 @../dof2" output="@./dofall" />
                <SphereCollisionModel radius="0.3" selfCollision="1"/>
                <UniformMass vertexMass="1" />
                <ConstantForceField indices="0" forces="1 0 0"/>
            </Node>

        </Node>

    </Node>


</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.02", gravity="0 0 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.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.StateContainer")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showCollisionModels showForceFields")
    root.addObject('DefaultAnimationLoop')
    root.addObject('CollisionPipeline')
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('CollisionResponse', response="PenalityContactForceField")
    root.addObject('DiscreteIntersection')
    root.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
    root.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5")

    object1 = root.addChild('object1')
    object1.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2")
    object1.addObject('MeshTopology', src="@loader")
    object1.addObject('MechanicalObject', template="Vec3", src="@loader", name="dof1")

    object2 = object1.addChild('object2')
    object2.addObject('GridMeshCreator', name="loader", filename="nofile", resolution="2 2", translation="2 0 0")
    object2.addObject('MeshTopology', src="@loader")
    object2.addObject('MechanicalObject', template="Vec3", src="@loader", name="dof2")

    concatenation = object2.addChild('concatenation')
    concatenation.addObject('MechanicalObject', template="Vec3", name="dofall", showObject="1")
    concatenation.addObject('IdentityMultiMapping', template="Vec3,Vec3", input="@../../dof1 @../dof2", output="@./dofall")
    concatenation.addObject('SphereCollisionModel', radius="0.3", selfCollision="1")
    concatenation.addObject('UniformMass', vertexMass="1")
    concatenation.addObject('ConstantForceField', indices="0", forces="1 0 0")