RigidMapping

Set the positions and velocities of points attached to a rigid parent Supports GPU-side computations using CUDA

Templates:

• CudaRigid3f,CudaVec3d
• CudaRigid3f,CudaVec3d1
• CudaRigid3f,CudaVec3f
• CudaRigid3f,CudaVec3f1
• Rigid3d,CudaVec3d
• Rigid3d,CudaVec3d1
• Rigid3d,CudaVec3f
• Rigid3d,CudaVec3f1
• Rigid3f,CudaVec3d
• Rigid3f,CudaVec3d1
• Rigid3f,CudaVec3f
• Rigid3f,CudaVec3f1

Target: SofaCUDA

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 -Stabilized: the exact geometric stiffness is approximated in order to improve stability	Stabilized
initialPoints	Local Coordinates of the points
index	input DOF index	0
filename	Xsp file where rigid mapping information can be loaded from.
useX0	Use x0 instead of local copy of initial positions (to support topo changes)	0
indexFromEnd	input DOF index starts from the end of input DOFs vector	0
rigidIndexPerPoint	For each mapped point, the index of the Rigid it is mapped from
globalToLocalCoords	are the output DOFs initially expressed in global coordinates

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/RigidMapping-basic.scn

XMLPython

<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" time="0" animate="0" bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [PartialFixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <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 [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showBehaviorModels showMapping" />
    <DefaultAnimationLoop/>

    <Node name="parent node with independent DOFs">
        <StaticSolver name="ODE solver" printLog="0" />
        <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid3" />
        <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
        <UniformMass template="Rigid3" name="mass" />
        <Node name="child node with DOFs mapped from the parent">
            <MechanicalObject template="Vec3" name="endpoint coordinates" position="1 -0.0 0"  />
            <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
            <ConstantForceField forces="1 -1 0" indices="0" />
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    Root = rootNode.addChild('Root', gravity="0 0 0", time="0", animate="0", bbox="-1 -1 -1 1 1 1")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    Root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
    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.Visual")
    Root.addObject('VisualStyle', displayFlags="showBehaviorModels showMapping")
    Root.addObject('DefaultAnimationLoop')

    parent node with independent DOFs = Root.addChild('parent node with independent DOFs')
    parent node with independent DOFs.addObject('StaticSolver', name="ODE solver", printLog="0")
    parent node with independent DOFs.addObject('CGLinearSolver', template="GraphScattered", name="linear solver used by implicit ODE solvers", printLog="0", iterations="25", tolerance="1e-5", threshold="1e-5")
    parent node with independent DOFs.addObject('MechanicalObject', template="Rigid3")
    parent node with independent DOFs.addObject('PartialFixedProjectiveConstraint', fixedDirections="1 1 1 0 0 0")
    parent node with independent DOFs.addObject('UniformMass', template="Rigid3", name="mass")

    child node with DOFs mapped from the parent = parent node with independent DOFs.addChild('child node with DOFs mapped from the parent')
    child node with DOFs mapped from the parent.addObject('MechanicalObject', template="Vec3", name="endpoint coordinates", position="1 -0.0 0")
    child node with DOFs mapped from the parent.addObject('RigidMapping', name="angle-coord mapping", input="@..", output="@.", index="0")
    child node with DOFs mapped from the parent.addObject('ConstantForceField', forces="1 -1 0", indices="0")

Component/Mapping/NonLinear/RigidMapping2d-basic.scn

XMLPython

<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" time="0" animate="0" bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [PartialFixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <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 [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showBehaviorModels showMapping" />
    <DefaultAnimationLoop/>

    <Node name="parent node with independent DOFs">
        <!--        <EulerImplicitSolver name="ODE solver" printLog="0"  verbose="0" rayleighStiffness="0.0" rayleighMass="0"/> -->
        <StaticSolver name="ODE solver" printLog="0" />
        <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid2" />
        <PartialFixedProjectiveConstraint fixedDirections="1 1 0" />
        <UniformMass template="Rigid2" name="mass" />
        <Node name="child node with DOFs mapped from the parent">
            <MechanicalObject template="Vec2" name="endpoint coordinates" position="1 0 "  />
            <RigidMapping template="" name="angle-coord mapping" input="@.." output="@." index="0" />
            <ConstantForceField forces="1 -1" indices="0" />
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    Root = rootNode.addChild('Root', gravity="0 0 0", time="0", animate="0", bbox="-1 -1 -1 1 1 1")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    Root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    Root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
    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.Visual")
    Root.addObject('VisualStyle', displayFlags="showBehaviorModels showMapping")
    Root.addObject('DefaultAnimationLoop')

    parent node with independent DOFs = Root.addChild('parent node with independent DOFs')
    parent node with independent DOFs.addObject('StaticSolver', name="ODE solver", printLog="0")
    parent node with independent DOFs.addObject('CGLinearSolver', template="GraphScattered", name="linear solver used by implicit ODE solvers", printLog="0", iterations="25", tolerance="1e-5", threshold="1e-5")
    parent node with independent DOFs.addObject('MechanicalObject', template="Rigid2")
    parent node with independent DOFs.addObject('PartialFixedProjectiveConstraint', fixedDirections="1 1 0")
    parent node with independent DOFs.addObject('UniformMass', template="Rigid2", name="mass")

    child node with DOFs mapped from the parent = parent node with independent DOFs.addChild('child node with DOFs mapped from the parent')
    child node with DOFs mapped from the parent.addObject('MechanicalObject', template="Vec2", name="endpoint coordinates", position="1 0 ")
    child node with DOFs mapped from the parent.addObject('RigidMapping', template="", name="angle-coord mapping", input="@..", output="@.", index="0")
    child node with DOFs mapped from the parent.addObject('ConstantForceField', forces="1 -1", indices="0")

Component/Mapping/NonLinear/RigidMapping.scn

XMLPython

<?xml version="1.0" ?>
<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 [NewProximityIntersection] -->
    <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.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <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.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <DefaultAnimationLoop/>
    <Node name="ChainRigid">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel contactStiffness="1000" simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_3" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="gray" texturename="textures/brushed_metal.bmp" />
        </Node>
        <Node name="TorusRigid1">
            <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="2.5" />
            <UniformMass filename="BehaviorModels/torus.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_2" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_2" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid2">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="5" />
            <UniformMass />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_4" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid3">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="7.5" />
            <UniformMass />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_0" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid4">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="10" />
            <UniformMass />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </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.IO.Mesh")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
    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.GL.Component.Rendering3D")
    root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
    root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
    root.addObject('DefaultAnimationLoop')

    ChainRigid = root.addChild('ChainRigid')

    TorusFixed = ChainRigid.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader")
    TorusFixed.addObject('TriangleCollisionModel', contactStiffness="1000", simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_3", color="gray", texturename="textures/brushed_metal.bmp")

    TorusRigid1 = ChainRigid.addChild('TorusRigid1')
    TorusRigid1.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
    TorusRigid1.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
    TorusRigid1.addObject('MechanicalObject', template="Rigid3", dx="2.5")
    TorusRigid1.addObject('UniformMass', filename="BehaviorModels/torus.rigid")

    Visu = TorusRigid1.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="gray", texturename="textures/brushed_metal.bmp")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid1.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid2 = ChainRigid.addChild('TorusRigid2')
    TorusRigid2.addObject('EulerImplicitSolver')
    TorusRigid2.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
    TorusRigid2.addObject('MechanicalObject', template="Rigid3", dx="5")
    TorusRigid2.addObject('UniformMass')

    Visu = TorusRigid2.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="gray", texturename="textures/brushed_metal.bmp")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid3 = ChainRigid.addChild('TorusRigid3')
    TorusRigid3.addObject('EulerImplicitSolver')
    TorusRigid3.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
    TorusRigid3.addObject('MechanicalObject', template="Rigid3", dx="7.5")
    TorusRigid3.addObject('UniformMass')

    Visu = TorusRigid3.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray", texturename="textures/brushed_metal.bmp")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid3.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid4 = ChainRigid.addChild('TorusRigid4')
    TorusRigid4.addObject('EulerImplicitSolver')
    TorusRigid4.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
    TorusRigid4.addObject('MechanicalObject', template="Rigid3", dx="10")
    TorusRigid4.addObject('UniformMass')

    Visu = TorusRigid4.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray", texturename="textures/brushed_metal.bmp")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid4.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('RigidMapping')