SquareMapping

Compute the square

Templates:

• Vec1d,Vec1d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

• Mapping

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
geometricStiffness	Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed	Exact
useGeometricStiffnessMatrix	If available (cached), the geometric stiffness matrix is used in order to compute the product with the parent displacement. Otherwise, the product is computed directly using the available vectors (matrix-free method).	1

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/NonLinear/SquareMapping.scn

XMLPython

<?xml version="1.0"?>
<Node name="Root" gravity="0 -10 0" time="0" animate="0"  dt="0.01">

    <Node name="plugins">
        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [StringMeshCreator] -->
        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [DistanceMapping SquareDistanceMapping SquareMapping] -->
        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    </Node>

    <DefaultVisualManagerLoop/>
    <VisualStyle displayFlags="showVisualModels showBehaviorModels showMappings showForceFields showMechanicalMappings" />

    <DefaultAnimationLoop/>
    <StringMeshCreator name="loader" resolution="3" />

    <Node name="twoMappings">

        <EulerImplicitSolver name="solverTwoMappings" rayleighStiffness="0.1" rayleighMass="0.1"/>
        <CGLinearSolver iterations="1e4" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <EdgeSetTopologyContainer name="topology" position="@../loader.position" edges="@../loader.edges" />
        <MechanicalObject name="defoDOF" template="Vec3" />
        <EdgeSetGeometryAlgorithms drawEdges="true" />
        <FixedProjectiveConstraint indices="0" />
        <DiagonalMass  name="mass" totalMass="1e-2"/>
        <Node name="extensionsNode" >
            <MechanicalObject template="Vec1" name="extensionsDOF" />
            <DistanceMapping name="distanceMapping" topology="@../topology" input="@../defoDOF" output="@extensionsDOF" geometricStiffness="1" applyRestPosition="true" computeDistance="true"/>
            <Node name="square">
                <MechanicalObject template="Vec1" name="squaredDOF" />
                <SquareMapping input="@../extensionsDOF" output="@squaredDOF" geometricStiffness="1" applyRestPosition="true"/>
                <RestShapeSpringsForceField template="Vec1" stiffness="10000"/>
            </Node>
        </Node>
    </Node>

    <Node name="oneMapping">
        <TransformEngine name="transform" template="Vec3" translation="0 0 0" input_position="@../loader.position" />

        <EulerImplicitSolver name="solverOneMapping" rayleighStiffness="0.1" rayleighMass="0.1"/>
        <CGLinearSolver iterations="1e4" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <EdgeSetTopologyContainer name="topology" position="@transform.output_position" edges="@../loader.edges" />
        <MechanicalObject name="defoDOF" template="Vec3" />
        <EdgeSetGeometryAlgorithms drawEdges="true" />
        <FixedProjectiveConstraint indices="0" />
        <DiagonalMass  name="mass" totalMass="1e-2"/>
        <Node name="extensionsNode" >
            <MechanicalObject template="Vec1" name="extensionsDOF" />
            <SquareDistanceMapping name="distanceMapping" topology="@../topology" input="@../defoDOF" output="@extensionsDOF" geometricStiffness="1" applyRestPosition="true"/>
            <RestShapeSpringsForceField template="Vec1" stiffness="10000"/>
        </Node>
    </Node>

</Node>

def createScene(rootNode):

    Root = rootNode.addChild('Root', gravity="0 -10 0", time="0", animate="0", dt="0.01")

    plugins = Root.addChild('plugins')
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Transform")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
    plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    Root.addObject('DefaultVisualManagerLoop')
    Root.addObject('VisualStyle', displayFlags="showVisualModels showBehaviorModels showMappings showForceFields showMechanicalMappings")
    Root.addObject('DefaultAnimationLoop')
    Root.addObject('StringMeshCreator', name="loader", resolution="3")

    twoMappings = Root.addChild('twoMappings')
    twoMappings.addObject('EulerImplicitSolver', name="solverTwoMappings", rayleighStiffness="0.1", rayleighMass="0.1")
    twoMappings.addObject('CGLinearSolver', iterations="1e4", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    twoMappings.addObject('EdgeSetTopologyContainer', name="topology", position="@../loader.position", edges="@../loader.edges")
    twoMappings.addObject('MechanicalObject', name="defoDOF", template="Vec3")
    twoMappings.addObject('EdgeSetGeometryAlgorithms', drawEdges="true")
    twoMappings.addObject('FixedProjectiveConstraint', indices="0")
    twoMappings.addObject('DiagonalMass', name="mass", totalMass="1e-2")

    extensionsNode = twoMappings.addChild('extensionsNode')
    extensionsNode.addObject('MechanicalObject', template="Vec1", name="extensionsDOF")
    extensionsNode.addObject('DistanceMapping', name="distanceMapping", topology="@../topology", input="@../defoDOF", output="@extensionsDOF", geometricStiffness="1", applyRestPosition="true", computeDistance="true")

    square = extensionsNode.addChild('square')
    square.addObject('MechanicalObject', template="Vec1", name="squaredDOF")
    square.addObject('SquareMapping', input="@../extensionsDOF", output="@squaredDOF", geometricStiffness="1", applyRestPosition="true")
    square.addObject('RestShapeSpringsForceField', template="Vec1", stiffness="10000")

    oneMapping = Root.addChild('oneMapping')
    oneMapping.addObject('TransformEngine', name="transform", template="Vec3", translation="0 0 0", input_position="@../loader.position")
    oneMapping.addObject('EulerImplicitSolver', name="solverOneMapping", rayleighStiffness="0.1", rayleighMass="0.1")
    oneMapping.addObject('CGLinearSolver', iterations="1e4", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    oneMapping.addObject('EdgeSetTopologyContainer', name="topology", position="@transform.output_position", edges="@../loader.edges")
    oneMapping.addObject('MechanicalObject', name="defoDOF", template="Vec3")
    oneMapping.addObject('EdgeSetGeometryAlgorithms', drawEdges="true")
    oneMapping.addObject('FixedProjectiveConstraint', indices="0")
    oneMapping.addObject('DiagonalMass', name="mass", totalMass="1e-2")

    extensionsNode = oneMapping.addChild('extensionsNode')
    extensionsNode.addObject('MechanicalObject', template="Vec1", name="extensionsDOF")
    extensionsNode.addObject('SquareDistanceMapping', name="distanceMapping", topology="@../topology", input="@../defoDOF", output="@extensionsDOF", geometricStiffness="1", applyRestPosition="true")
    extensionsNode.addObject('RestShapeSpringsForceField', template="Vec1", stiffness="10000")