An Engine is a component that computes a set of output Data’s from a set of input Data’s. For the moment, Here are some interesting engines which are implemented in SOFA :
BoxROI, PlaneROI, SphereROI
These three engines have each their own behaviour and their own specific input parameters :
BoxROI
This engine finds the topological primitives which are inside a given box.
 box
Box defined by two points (xmin,ymin,zmin, xmax,ymax,zmax).
 position/rest_position
Rest position coordinates of the degrees of freedom
PlaneROI
This engine finds the points which are inside a given box computed from a plane defined by three points and a depth distance.
 planes
Plane defined by 3 points and a depth distance (as shown above).
 position/rest_position
Rest position coordinates of the degrees of freedom
SphereROI
This engine finds the topological primitives which are inside a given sphere.
 centers
Center(s) of the sphere(s).
 radii
Radius(i) of the sphere(s).
 direction
Edge direction(if edgeAngle > 0).
 normal
Normal direction of the triangles (if triAngle > 0).
 edgeAngle
Max angle between the direction of the selected edges and the specified direction.
 triAngle
Max angle between the normal of the selected triangle and the specified normal direction.
 position/rest_position
Rest position coordinates of the degrees of freedom These three engines also have shared input and output parameters that can be used depending of the need in the scene :
Input topology
 edges
Edge Topology array.
 triangles
Triangle Topology array.
 tetrahedra
Tetrahedron Topology array.
Input parameters
Concerning topology Note that those parameters are set to true by default. So it means that as default behaviour, all topological component array will be parse. Set some parameters to false if you just need a part of the information and want to speedup your simulation.
 computeEdges
If true, will compute edge list and index list inside the ROI.
 computeTriangles
If true, will compute triangle list and index list inside the ROI.
 computeTetrahedra
If true, will compute tetrahedra list and index list inside the ROI.
Output data’s
 indices
Indices of the points contained in the ROI.
 edgeIndices
Indices of the edges contained in the ROI.
 triangleIndices
Indices of the triangles contained in the ROI.
 tetrahedronIndices
Indices of the tetrahedra contained in the ROI.
 pointsInROI
Points contained in the ROI.
 edgesInROI
Edges contained in the ROI.
 trianglesInROI
Triangles contained in the ROI.
 tetrahedraInROI
Tetrahedra contained in the ROI.
Examples
BoxROI :
and you can also test these other scenes using the engine :
Sofa/examples/Components/engine/BoxROI.scn
Sofa/examples/Components/Constraint/BoxConstraint.scn
Sofa/examples/Components/Forcefield/BoxContactForcefield.scn
PlaneROI :
and you can also test these other scenes using the engine :
Sofa/examples/Components/engine/PlaneROI.scn
Sofa/examples/Components/Constraint/PlaneConstraint.scn
SphereROI :
and you can also test this other scene using the engine:
Sofa/examples/Components/engine/SphereROI.scn
ExtrudeSurface
This engine extrude a surface and returns corresponding triangles.
Input data’s
 triangles
list of triangles of the object to extrude. /! It must me a vector of BaseMeshTopology::Triangle
 surfaceTriangles
list of triangles of the surface to extrude. /! The type of triangle must be BaseMeshTopology::TriangleID, and not BaseMeshTopology::Triangle
 surfaceVertices
list of positions
Output data’s
 extrusionVertices
list of positions of the new triangles, created from extrusion
 extrusionTriangles
list of triangles from extrusion (vector of BaseMeshTopology::Triangle)
Important Parameter
 heightFactor
extrusion is based on normals. So, this factor defines the final height of the extrusion.
Examples
See multiengines example. Typically, a line in scene file will be in this form :
MergePoints
This engine returns a merged list of positions, given 2 primary lists.
Input data’s
 X1
positions of the 1st object.
 X2
positions of the 2nd object.
Output data’s
 points
a new list of positions, containing the 2 previous lists
 indices1
indices of the 1st position list in the new list
 indices2
indices of the 2nd position list in the new list
Examples
See multiengines example.
PointsFromIndices
This engine returns positions from given indices.
Input data’s
 X
positions of the mechanical object.
 indices
indices we want to have corresponding positions.
Output data’s
 indices_position
positions according to given indices
Examples
See multiengines example.
RandomDistributionInSurface
This engine creates a set of randomly distributed points in a closed surface.
Input data’s
 triangles
list of triangles of the closed surface
 points
list of positions of the previous triangles
 surfaceVertices
list of positions
Output data’s
 inPoints
list of generated points, which are inside the closed surface.
Important Parameter
 numberOfInPoints
desired number of generated points
 minDistanceBetweenPoints
minimum distance between 2 points (put 1 for true randomness)
 numberOfTests
testing if a point is in a closed surface consists in seeing if the point and a random direction intersects the surface. Obviously, if the direction is not very convenient, the result will be not correct. So we can put a certain number of tests to be valid.
 randomSeed
if you want the same pattern each time you run the test, fix the seed to have always the same results.
Examples
See multiengines example.
TextureInterpolation
This engine create texture coordinate in 1D according to an imput state vector. Coordinate can be interpolated either from min and max value of input states (default behavior) or on a manual define scale.
Input data’s
 input_states
Input array of state values.
 input_coordinates
Input array of coordinates values (not mandatory).
Output data’s
 output_coordinates
Output array of texture coordinates.
Additional Parameter
For manual scale :
 min_value
Minimum value of state value for interpolation.
 max_value
Maximum value of state value for interpolation.
 manual_scale
Compute texture interpolation on manually scale defined above
Examples
See the example scene :
Sofa/examples/Components/engine/TextureInterpolation.scn
TransformPosition
This engine transforms the positions of one DataFields into new positions after applying a transformation. This transformation can be either:
 Projection on a plane (plane defined by an origin and a normal vector).
 Translation, rotation, scale and some combinations of translation, rotation and scale.
Input data’s
 input_position
Input array of 3d points.
Output data’s
 output_position
Output array of 3d points projected on a plane.
Additional Parameter
 method
Transformation method either translation or scale or rotation or projectOnPlane.
Spiral
This engine turns on spiral any topological model.
Input data’s
 f_X0
Rest position of the mechanical object.
Output data’s
 f_X
Position of the mechanical object once it has been turned on spiral.
Examples
See the example scene :
Sofa/examples/Components/engine/spiral.scn
Vertex2Frame
For each point defined in an .obj file, this engine computes a set of rigid points using the normals. Normal vector will be collinear to the Z axis and orthonormal to X and Y as showed bellow:
Y

 / X
 /
 /
/_ _ _ _ _ Z/normal
Input data’s
 normals
normals defined in the .obj file.
 vertices
vertices defined in the .obj file.
Output data’s
 frames
Set of rigid types oriented as described before.
Examples
or you can see the example scene :
Sofa/examples/Components/engine/vertex2Frame.scn
Spiral
This engine turns on spiral any topological model.
Input data’s
 f_X0
Rest position of the mechanical object.
Output data’s
 f_X
Position of the mechanical object once it has been turned on spiral.
Examples
See the example scene :
Sofa/examples/Components/engine/spiral.scn
SubSetTopology
This engine separate topology in two parts, considering a ROI, a topology inside and a topology outside the ROI which can be a sphere or a box ROI used in this engine are similar to BoxROI and SphereROI.
Input Data’s
 box
Box defined by two points (xmin,ymin,zmin, xmax,ymax,zmax).
 centers
Center(s) of the sphere(s).
 radii
Radius(i) of the sphere(s).
 direction
Edge direction(if edgeAngle > 0).
 normal
Normal direction of the triangles (if triAngle > 0).
 edgeAngle
Max angle between the direction of the selected edges and the specified direction.
 triAngle
Max angle between the normal of the selected triangle and the specified normal direction. Input topology
 position/rest_position
Rest position coordinates of the degrees of freedom.
 edges
Edge Topology array.
 triangles
Triangle Topology array.
 tetrahedra
Tetrahedron Topology array.
Input parameters
For display:
 drawROI
If true, Draw ROI(s).
 drawPoints
If true, Draw Points.
 drawEdges
If true, Draw Edges.
 drawTriangle
If true, Draw Triangles.
 drawTetrahedra
If true, Draw Tetrahedra.
 drawSize
Rendering size for box and elements. For behaviour:
 localIndices
If true, will compute local dof indices in topological elements. (see examples below)
Output data’s
 indices
Indices of the points contained in the ROI.
 edgeIndices
Indices of the edges contained in the ROI.
 triangleIndices
Indices of the triangles contained in the ROI.
 tetrahedronIndices
Indices of the tetrahedra contained in the ROI.
 pointsInROI
Points contained in the ROI.
 pointsOutROI
Points contained out of the ROI.
 edgesInROI
Edges contained in the ROI.
 edgesOutROI
Edges contained out of the ROI.
 trianglesInROI
Triangles contained in the ROI.
 trianglesOutROI
Triangles contained out of the ROI.
 tetrahedraInROI
Tetrahedra contained in the ROI.
 tetrahedraOutROI
Tetrahedra contained out of the ROI.
 nbrborder
If localIndices option is activated, will give the number of vertices on the border of the ROI (being the n first points of each output Topology).
Examples
See the example scenes using this engine in :
Sofa/examples/Components/engine/SubsetTopology.scn
Sofa/examples/Components/engine/SubsetTopology_localIndicesOption.scn
Sofa/examples/Components/engine/SubsetTopology_refiningMesh.scn
Last modified: 30 September 2019