SubsetMapping
TODO-SubsetMappingClass Supports GPU-side computations using CUDA
Templates:
CudaVec3f,CudaVec3fCudaVec3f,CudaVec3f1CudaVec3f1,CudaVec3fCudaVec3f1,CudaVec3f1
Target: SofaCUDA
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 |
| indices | list of input indices | |
| first | first index (use if indices are sequential) | 4294967295 |
| last | last index (use if indices are sequential) | 4294967295 |
| radius | search radius to find corresponding points in case no indices are given | 1e-05 |
| handleTopologyChange | Enable support of topological changes for indices (disable if it is linked from SubsetTopologicalMapping::d_pointD2S) | 1 |
| ignoreNotFound | True to ignore points that are not found in the input model, they will be treated as fixed points | 0 |
| resizeToModel | True to resize the output MechanicalState to match the size of indices | 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 |
| topology | link to the topology container |
Examples
Component/Mapping/Linear/SubsetMapping.scn
<!-- Mechanical SubsetMapping Group Basic Example -->
<Node name="root" dt="0.01" gravity="0 -9.6 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 [LocalMinDistance] -->
<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 [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping SubsetMapping] -->
<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 [HexahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe" />
<CollisionPipeline depth="6" verbose="0" draw="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.006" contactDistance="0.001" coneFactor="0.3" angleCone="0.01" filterIntersection="true"/>
<CollisionResponse name="Response" response="NeedleContact"/>
<DefaultAnimationLoop/>
<Node name="sutureSoftCubes">
<EulerImplicitSolver name="TissueSolver" printLog="false" rayleighStiffness="0.3" rayleighMass="0.2"/>
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Vec3"/>
<UniformMass vertexMass="0.001"/>
<RegularGridTopology name="grid"
nx="10" ny="4" nz="10"
xmin="-0.05" xmax="0.05"
ymin="0.0" ymax="0.03"
zmin="-0.05" zmax="0.05"
/>
<!--<TetrahedronFEMForceField name="FEM" youngModulus="1e3" poissonRatio="0.4" computeGlobalMatrix="false" method="large"/>-->
<BoxROI name="box_roi" box="-0.06 -0.001 -0.06 0.06 0.001 0.06 -0.052 -0.001 -0.06 -0.048 0.011 0.06 0.048 -0.001 -0.06 0.052 0.011 0.06" />
<FixedProjectiveConstraint indices="@box_roi.indices" />
<Node name="subCube1">
<MechanicalObject template="Vec3"/>
<RegularGridTopology name="grid"
nx="5" ny="2" nz="10"
xmin="-0.05" xmax="-0.00555555555555555555555"
ymin="0.02" ymax="0.03"
zmin="-0.05" zmax="0.05"
/>
<HexahedronFEMForceField name="FEM" youngModulus="3e5" poissonRatio="0.4" method="large"/>
<SubsetMapping />
<Node name="Tetra1">
<TetrahedronSetTopologyContainer name="Container"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
<Node name="Visu1">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
<!-- <OglModel name="Visual" filename="mesh/suture.obj" putOnlyTexCoords="true" dx="-0.055" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 0.8 0.7 1.0 Specular 1 0.1 0.1 0.1 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" />
<OglShadowShader/>
<OglShaderDefineMacro id="USE_TEXTURE" />
<OglTexture2D id="colorTexture" texture2DFilename="textures/skin2.png" textureUnit="1" repeat="true" />
<BarycentricMapping input="@../.." output="@Visual"/>
-->
<OglModel name="Visual1" color="0.3 1 0.3 1"/>
<IdentityMapping input="@../.." output="@Visual1"/>
<TriangleCollisionModel group="2" name="cube1_collis_tri"/>
<LineCollisionModel group="2" name="cube1_collis_line"/>
<PointCollisionModel group="2" name="cube2_collis_point"/>
</Node>
</Node>
</Node>
<Node name="subCube2">
<MechanicalObject template="Vec3"/>
<RegularGridTopology name="grid"
nx="5" ny="2" nz="10"
xmin="0.00555555555555555555555" xmax="0.05"
ymin="0.02" ymax="0.03"
zmin="-0.05" zmax="0.05"
/>
<HexahedronFEMForceField name="FEM" youngModulus="3e5" poissonRatio="0.4" method="large"/>
<SubsetMapping />
<Node name="Tetra2">
<TetrahedronSetTopologyContainer name="Container"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
<Node name="Visu2">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
<!-- <OglModel name="Visual" filename="mesh/suture.obj" putOnlyTexCoords="true" dx="0.00" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 0.8 0.7 1.0 Specular 1 0.1 0.1 0.1 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" />
<OglShadowShader/>
<OglShaderDefineMacro id="USE_TEXTURE" />
<OglTexture2D id="colorTexture" texture2DFilename="textures/skin2.png" textureUnit="1" repeat="true" />
<BarycentricMapping input="@../.." output="@Visual"/>
-->
<OglModel name="Visual2" color="0.3 0.3 1 1"/>
<IdentityMapping input="@../.." output="@Visual2"/>
<TriangleCollisionModel group="3" name="cube2_collis_tri"/>
<LineCollisionModel group="3" name="cube2_collis_line"/>
<PointCollisionModel group="3" name="cube2_collis_point"/>
</Node>
</Node>
</Node>
<Node name="subCube3">
<MechanicalObject template="Vec3"/>
<RegularGridTopology name="grid"
nx="10" ny="3" nz="10"
xmin="-0.05" xmax="0.05"
ymin="0.0" ymax="0.02"
zmin="-0.05" zmax="0.05"
/>
<HexahedronFEMForceField name="FEM" youngModulus="2e3" poissonRatio="0.4" method="large"/>
<SubsetMapping />
<Node name="Tetra3">
<TetrahedronSetTopologyContainer name="Container"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Hexa2TetraTopologicalMapping input="@../grid" output="@Container"/>
<Node name="Visu3">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="1" />
<OglModel name="Visual3" color="1 0.3 0.1 1"/>
<IdentityMapping input="@../.." output="@Visual3"/>
</Node>
</Node>
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.01", gravity="0 -9.6 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.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="hideBehaviorModels hideCollisionModels hideBoundingCollisionModels hideForceFields showInteractionForceFields hideWireframe")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.006", contactDistance="0.001", coneFactor="0.3", angleCone="0.01", filterIntersection="true")
root.addObject('CollisionResponse', name="Response", response="NeedleContact")
root.addObject('DefaultAnimationLoop')
sutureSoftCubes = root.addChild('sutureSoftCubes')
sutureSoftCubes.addObject('EulerImplicitSolver', name="TissueSolver", printLog="false", rayleighStiffness="0.3", rayleighMass="0.2")
sutureSoftCubes.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
sutureSoftCubes.addObject('MechanicalObject', template="Vec3")
sutureSoftCubes.addObject('UniformMass', vertexMass="0.001")
sutureSoftCubes.addObject('RegularGridTopology', name="grid", nx="10", ny="4", nz="10", xmin="-0.05", xmax="0.05", ymin="0.0", ymax="0.03", zmin="-0.05", zmax="0.05")
sutureSoftCubes.addObject('BoxROI', name="box_roi", box="-0.06 -0.001 -0.06 0.06 0.001 0.06 -0.052 -0.001 -0.06 -0.048 0.011 0.06 0.048 -0.001 -0.06 0.052 0.011 0.06")
sutureSoftCubes.addObject('FixedProjectiveConstraint', indices="@box_roi.indices")
subCube1 = sutureSoftCubes.addChild('subCube1')
subCube1.addObject('MechanicalObject', template="Vec3")
subCube1.addObject('RegularGridTopology', name="grid", nx="5", ny="2", nz="10", xmin="-0.05", xmax="-0.00555555555555555555555", ymin="0.02", ymax="0.03", zmin="-0.05", zmax="0.05")
subCube1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="3e5", poissonRatio="0.4", method="large")
subCube1.addObject('SubsetMapping')
Tetra1 = subCube1.addChild('Tetra1')
Tetra1.addObject('TetrahedronSetTopologyContainer', name="Container")
Tetra1.addObject('TetrahedronSetTopologyModifier', name="Modifier")
Tetra1.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Tetra1.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")
Visu1 = Tetra1.addChild('Visu1')
Visu1.addObject('TriangleSetTopologyContainer', name="Container")
Visu1.addObject('TriangleSetTopologyModifier', name="Modifier")
Visu1.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Visu1.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
Visu1.addObject('OglModel', name="Visual1", color="0.3 1 0.3 1")
Visu1.addObject('IdentityMapping', input="@../..", output="@Visual1")
Visu1.addObject('TriangleCollisionModel', group="2", name="cube1_collis_tri")
Visu1.addObject('LineCollisionModel', group="2", name="cube1_collis_line")
Visu1.addObject('PointCollisionModel', group="2", name="cube2_collis_point")
subCube2 = sutureSoftCubes.addChild('subCube2')
subCube2.addObject('MechanicalObject', template="Vec3")
subCube2.addObject('RegularGridTopology', name="grid", nx="5", ny="2", nz="10", xmin="0.00555555555555555555555", xmax="0.05", ymin="0.02", ymax="0.03", zmin="-0.05", zmax="0.05")
subCube2.addObject('HexahedronFEMForceField', name="FEM", youngModulus="3e5", poissonRatio="0.4", method="large")
subCube2.addObject('SubsetMapping')
Tetra2 = subCube2.addChild('Tetra2')
Tetra2.addObject('TetrahedronSetTopologyContainer', name="Container")
Tetra2.addObject('TetrahedronSetTopologyModifier', name="Modifier")
Tetra2.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Tetra2.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")
Visu2 = Tetra2.addChild('Visu2')
Visu2.addObject('TriangleSetTopologyContainer', name="Container")
Visu2.addObject('TriangleSetTopologyModifier', name="Modifier")
Visu2.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Visu2.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
Visu2.addObject('OglModel', name="Visual2", color="0.3 0.3 1 1")
Visu2.addObject('IdentityMapping', input="@../..", output="@Visual2")
Visu2.addObject('TriangleCollisionModel', group="3", name="cube2_collis_tri")
Visu2.addObject('LineCollisionModel', group="3", name="cube2_collis_line")
Visu2.addObject('PointCollisionModel', group="3", name="cube2_collis_point")
subCube3 = sutureSoftCubes.addChild('subCube3')
subCube3.addObject('MechanicalObject', template="Vec3")
subCube3.addObject('RegularGridTopology', name="grid", nx="10", ny="3", nz="10", xmin="-0.05", xmax="0.05", ymin="0.0", ymax="0.02", zmin="-0.05", zmax="0.05")
subCube3.addObject('HexahedronFEMForceField', name="FEM", youngModulus="2e3", poissonRatio="0.4", method="large")
subCube3.addObject('SubsetMapping')
Tetra3 = subCube3.addChild('Tetra3')
Tetra3.addObject('TetrahedronSetTopologyContainer', name="Container")
Tetra3.addObject('TetrahedronSetTopologyModifier', name="Modifier")
Tetra3.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Tetra3.addObject('Hexa2TetraTopologicalMapping', input="@../grid", output="@Container")
Visu3 = Tetra3.addChild('Visu3')
Visu3.addObject('TriangleSetTopologyContainer', name="Container")
Visu3.addObject('TriangleSetTopologyModifier', name="Modifier")
Visu3.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
Visu3.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", flipNormals="1")
Visu3.addObject('OglModel', name="Visual3", color="1 0.3 0.1 1")
Visu3.addObject('IdentityMapping', input="@../..", output="@Visual3")