Using Identitymultimapping to concatanate DOFs from child nodes at the same level

[zbounik]

Hi,

Is it possible to use Identitymultimapping to concatanate DOFs from child nodes that are at the same level? If yes, how can I provide the true link to the path of all the DOFs?

A scene example is provided below:

<?xml version="1.0"?>
<Node 	 name="lroot"  gravity="0 0 -9"  dt="0.01"  >
	<RequiredPlugin name="SofaOpenglVisual"/>
    <RequiredPlugin pluginName='SofaBoundaryCondition'/>
    <RequiredPlugin pluginName='SofaImplicitOdeSolver'/>
    <RequiredPlugin pluginName='SofaLoader'/>
    <RequiredPlugin pluginName='SofaMiscFem'/>
    <RequiredPlugin name="SofaConstraint"/> 
    <RequiredPlugin name="SofaMiscCollision"/>
	<RequiredPlugin name="SofaMeshCollision"/> <!-- Needed to use components [TriangleCollisionModel] -->  


	<VisualStyle name="visualStyle1"  displayFlags="showVisual showBehaviorModels" />

	<!--my change in visualStyle2-->
	<VisualStyle name="visualStyle2"  displayFlags="showBehaviorModels" />
	<DefaultVisualManagerLoop name="defaultVisualManagerLoop1" />
	<FreeMotionAnimationLoop name="FreeMotionAnimationLoop" />
	<DefaultPipeline name="CollisionPipeline" />
	<MinProximityIntersection name="Proximity"  alarmDistance="0.5"  contactDistance="1" />
	<DefaultContactManager name="Response"  response="default" />
	<LCPConstraintSolver name="lCPConstraintSolver1"  build_lcp="0"  tolerance="0.0001"  maxIt="1000"  group="0" />
	<BruteForceBroadPhase/>
	<BVHNarrowPhase/>


	<Node 	 name="A"  >
		<MeshObjLoader name="meshLoader_0"  filename="mesh/liver.obj" />
		<OglModel template="Vec3d" name="Visual" src="@meshLoader_0" position="@meshLoader_0.position"  edges="@meshLoader_0.edges"  triangles="@meshLoader_0.triangles"  quads="@meshLoader_0.quads"  material="Default Diffuse 1 1 1 0.2 0.5 Ambient 1 0.2 0.2 0.04 0.5 Specular 0 1 1 0.2 0.5 Emissive 0 1 1 0.2 0.5 Shininess 0 45 "  primitiveType="DEFAULT"  blendEquation="GL_FUNC_ADD"  sfactor="GL_SRC_ALPHA"  dfactor="GL_ONE_MINUS_SRC_ALPHA" />
		<EulerImplicitSolver name="eulerImplicitSolver3" />
		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
		<MechanicalObject name="Mechm" src="@meshLoader_0"/>
		<<UniformMass totalMass="60"  name="uniformMass" />
		<TriangleSetTopologyContainer name="triangleSetTopologyContainer10" src="@meshLoader_0"/>
		<TriangleSetTopologyModifier name="triangleSetTopologyModifier13" />
		<TriangleSetGeometryAlgorithms template="Vec3d" name="triangleSetGeometryAlgorithms19" />
		<TriangularFEMForceField template="Vec3d" name="triangularFEMFF21" poissonRatio="0.49" youngModulus="10000" method="large"/>
		<BarycentricMapping input="@Mechm" output="@Visual" name="visual mapping" />
		<UncoupledConstraintCorrection />
        <TriangleCollisionModel />
        <FixedConstraint indices="0 1" />


	</Node>
	<Node 	 name="B"  >
		<MeshObjLoader name="meshLoader_0"  filename="mesh/torus.obj" />
		<OglModel template="Vec3d" name="Visual" src="@meshLoader_0" position="@meshLoader_0.position"  edges="@meshLoader_0.edges"  triangles="@meshLoader_0.triangles"  quads="@meshLoader_0.quads"  material="Default Diffuse 1 0.2 1 0.2 0.5 Ambient 1 0.04 0.2 0.04 0.5 Specular 0 0.2 1 0.2 0.5 Emissive 0 0.2 1 0.2 0.5 Shininess 0 45 "  primitiveType="DEFAULT"  blendEquation="GL_FUNC_ADD"  sfactor="GL_SRC_ALPHA"  dfactor="GL_ONE_MINUS_SRC_ALPHA" />
		<EulerImplicitSolver name="eulerImplicitSolver3" />
		<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
		<MechanicalObject name="Mechu" src="@meshLoader_0"/>
		<<UniformMass totalMass="60"  name="uniformMass" />
		<TetrahedronSetTopologyContainer name="TetraTopologyContainer" src="@meshLoader_0" />
		<TriangleSetTopologyModifier name="triangleSetTopologyModifier13" />
		<TriangleSetGeometryAlgorithms template="Vec3d" name="triangleSetGeometryAlgorithms19" />
		<TriangularFEMForceField template="Vec3d" name="triangularFEMFF21" poissonRatio="0.49" youngModulus="10000" method="large"/>
		<BarycentricMapping input="@Mechu" output="@Visual" name="visual mapping" />
		<UncoupledConstraintCorrection />
        <TriangleCollisionModel />
        <FixedConstraint indices="2466 " />
    </Node>

    <Node name="concatenation">
        <MechanicalObject template="Vec3d" name="dofall" showObject="1"/>
        <IdentityMultiMapping input="@Mechu @Mechm" output="@./dofall" />
        <SphereCollisionModel radius="0.3" selfCollision="1"/>
        <UniformMass vertexMass="1" />
        <ConstantForceField indices="0" force="1 0 0"/>


	</Node>
</Node>

[alxbilger]

<IdentityMultiMapping input="@../A/Mechu @../B/Mechm" output="@./dofall" />

Does it make the trick?

[zbounik]

Hi @alxbilger
Yess this is working. Thank you.

[alxbilger]

Note that concatenation has no ODE solver. I am not sure your mapping will follow.
I recommend to have the following structure:

<Node>
    <EulerImplicitSolver name="eulerImplicitSolver3" />
    <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
    
    <Node name="A">
    </Node>

    <Node name="B">
    </Node>

    <Node name="concatenation">
    </Node>
</Node>

[zbounik]

Thank you for the recommendation, this makes the code more clean.