SubsetTopology
This component belongs to the category of Engines. 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.
Engine used to create subset topology given box, sphere, plan, ...
Templates:
- Rigid3d
- Vec3d
Target: Sofa.Component.Engine.Select
namespace: sofa::component::engine::select
parents:
- DataEngine
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object 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 |
| box | Box defined by 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 | 0 |
| triAngle | Max angle between the normal of the selected triangle and the specified normal direction | 0 |
| rest_position | Rest position coordinates of the degrees of freedom | |
| edges | Edge Topology | |
| triangles | Triangle Topology | |
| quads | Quad Topology | |
| tetrahedra | Tetrahedron Topology | |
| hexahedra | Hexahedron Topology | |
| tetrahedraInput | Indices of the tetrahedra to keep | |
| 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 | |
| quadIndices | Indices of the quads contained in the ROI | |
| tetrahedronIndices | Indices of the tetrahedra contained in the ROI | |
| hexahedronIndices | Indices of the hexahedra contained in the ROI | |
| pointsInROI | Points contained in the ROI | |
| pointsOutROI | Points out of the ROI | |
| edgesInROI | Edges contained in the ROI | |
| edgesOutROI | Edges out of the ROI | |
| trianglesInROI | Triangles contained in the ROI | |
| trianglesOutROI | Triangles out of the ROI | |
| quadsInROI | Quads contained in the ROI | |
| quadsOutROI | Quads out of the ROI | |
| tetrahedraInROI | Tetrahedra contained in the ROI | |
| tetrahedraOutROI | Tetrahedra out of the ROI | |
| hexahedraInROI | Hexahedra contained in the ROI | |
| hexahedraOutROI | Hexahedra 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). | 0 |
| localIndices | If true, will compute local dof indices in topological elements | 0 |
| Visualization | ||
| drawROI | Draw ROI | 0 |
| drawPoints | Draw Points | 0 |
| drawEdges | Draw Edges | 0 |
| drawTriangle | Draw Triangles | 0 |
| drawTetrahedra | Draw Tetrahedra | 0 |
| drawSize | rendering size for box and topological elements | 1 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
Examples
SubsetTopology.scn
<Node name="root" gravity="0 -9.81 0" dt="0.05">
<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 [MinProximityIntersection] -->
<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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [SubsetTopology] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<CollisionPipeline name="default0" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<Node name="SquareGravity">
<MeshGmshLoader name="meshLoader" filename="mesh/square3.msh" />
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" tolerance="1e-05" threshold="1e-05"/>
<SubsetTopology template="Vec3" box="0.3 0 -0.1 0.6 1 0.1" drawTriangle="0" drawROI="1" src="@meshLoader" rest_position="@meshLoader.position" name="Subset" />
<Node name="in">
<MechanicalObject template="Vec3" name="mecaObj2" position="@../meshLoader.position" />
<TriangleSetTopologyContainer name="Container" position="@mecaObj2.position" triangles="@../Subset.trianglesInROI" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<DiagonalMass name="default5" massDensity="1.15" />
<TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="30" />
<TriangularBendingSprings template="Vec3" name="FEM-Bend" stiffness="300" damping="1" />
<TriangleCollisionModel template="Vec3" name="default7" />
<Node >
<OglModel name="Visual" color="blue" />
<IdentityMapping input="@.." output="@Visual" />
</Node> </Node>
<Node name="Out">
<MechanicalObject template="Vec3" name="mecaObj2" position="@../meshLoader.position" />
<TriangleSetTopologyContainer name="Container" position="@mecaObj2.position" triangles="@../Subset.trianglesOutROI" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<DiagonalMass name="default5" massDensity="1.15" />
<TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="30" />
<TriangularBendingSprings template="Vec3" name="FEM-Bend" stiffness="300" damping="1" />
<TriangleCollisionModel template="Vec3" name="default7" />
<FixedProjectiveConstraint template="Vec3" name="default6" indices="0 1" />
<Node >
<OglModel name="Visual" color="red" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.05")
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.IO.Mesh")
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.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
root.addObject('CollisionPipeline', name="default0", verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="default1", response="PenalityContactForceField")
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
square_gravity = root.addChild('SquareGravity')
square_gravity.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/square3.msh")
square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
square_gravity.addObject('CGLinearSolver', iterations="100", tolerance="1e-05", threshold="1e-05")
square_gravity.addObject('SubsetTopology', template="Vec3", box="0.3 0 -0.1 0.6 1 0.1", drawTriangle="0", drawROI="1", src="@meshLoader", rest_position="@meshLoader.position", name="Subset")
in = SquareGravity.addChild('in')
in.addObject('MechanicalObject', template="Vec3", name="mecaObj2", position="@../meshLoader.position")
in.addObject('TriangleSetTopologyContainer', name="Container", position="@mecaObj2.position", triangles="@../Subset.trianglesInROI")
in.addObject('TriangleSetTopologyModifier', name="Modifier")
in.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
in.addObject('DiagonalMass', name="default5", massDensity="1.15")
in.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="30")
in.addObject('TriangularBendingSprings', template="Vec3", name="FEM-Bend", stiffness="300", damping="1")
in.addObject('TriangleCollisionModel', template="Vec3", name="default7")
node = in.addChild('node')
node.addObject('OglModel', name="Visual", color="blue")
node.addObject('IdentityMapping', input="@..", output="@Visual")
out = SquareGravity.addChild('Out')
out.addObject('MechanicalObject', template="Vec3", name="mecaObj2", position="@../meshLoader.position")
out.addObject('TriangleSetTopologyContainer', name="Container", position="@mecaObj2.position", triangles="@../Subset.trianglesOutROI")
out.addObject('TriangleSetTopologyModifier', name="Modifier")
out.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
out.addObject('DiagonalMass', name="default5", massDensity="1.15")
out.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="30")
out.addObject('TriangularBendingSprings', template="Vec3", name="FEM-Bend", stiffness="300", damping="1")
out.addObject('TriangleCollisionModel', template="Vec3", name="default7")
out.addObject('FixedProjectiveConstraint', template="Vec3", name="default6", indices="0 1")
node = Out.addChild('node')
node.addObject('OglModel', name="Visual", color="red")
node.addObject('IdentityMapping', input="@..", output="@Visual")
SubsetTopology_withtetrahedra.scn
<Node name="root" dt="0.05" gravity="0 -9.81 0" showBoundingTree="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 [MinProximityIntersection] -->
<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.Constraint.Projective"/> <!-- Needed to use components [FixedPlaneProjectiveConstraint FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [SubsetTopology] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [TrianglePressureForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
<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.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showWireframe" />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<Node name="TT">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
<MechanicalObject src="@loader" name="Volume" />
<include href="Objects/TetrahedronSetTopology.xml" src="@loader" />
<DiagonalMass massDensity="0.5" />
<FixedPlaneProjectiveConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
<FixedProjectiveConstraint indices="0" />
<TetrahedralCorotationalFEMForceField name="FEM" youngModulus="30" poissonRatio="0.3" method="large" />
<SubsetTopology template="Vec3" box="0 0 0 0.3 0.3 0.5" tetrahedra="@Container.tetrahedra" drawTetrahedra="1" drawROI="1" rest_position="@Volume.position" name="Subset" />
<Node name="T">
<include href="Objects/TriangleSetTopology.xml" src="@../loader" tags=" " />
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
<TriangularBendingSprings name="FEM-Bend" stiffness="100" damping="1.0" />
<TrianglePressureForceField normal="0 0 1" dmin="0.9" dmax="1.1" pressure="0.4 0 0" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel template="Vec3" name="Visual" material="Default Diffuse 1 0 0 1 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
<IdentityMapping input="@../../Volume" output="@Visual" />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.05", gravity="0 -9.81 0", showBoundingTree="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.IO.Mesh")
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.MechanicalLoad")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
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('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showWireframe")
root.addObject('CollisionPipeline', verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', response="PenalityContactForceField")
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
tt = root.addChild('TT')
tt.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
tt.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
tt.addObject('MeshGmshLoader', name="loader", filename="mesh/cylinder.msh")
tt.addObject('MechanicalObject', src="@loader", name="Volume")
tt.addObject('include', href="Objects/TetrahedronSetTopology.xml", src="@loader")
tt.addObject('DiagonalMass', massDensity="0.5")
tt.addObject('FixedPlaneProjectiveConstraint', direction="0 0 1", dmin="-0.1", dmax="0.1")
tt.addObject('FixedProjectiveConstraint', indices="0")
tt.addObject('TetrahedralCorotationalFEMForceField', name="FEM", youngModulus="30", poissonRatio="0.3", method="large")
tt.addObject('SubsetTopology', template="Vec3", box="0 0 0 0.3 0.3 0.5", tetrahedra="@Container.tetrahedra", drawTetrahedra="1", drawROI="1", rest_position="@Volume.position", name="Subset")
t = TT.addChild('T')
t.addObject('include', href="Objects/TriangleSetTopology.xml", src="@../loader", tags=" ")
t.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container")
t.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="100", damping="1.0")
t.addObject('TrianglePressureForceField', normal="0 0 1", dmin="0.9", dmax="1.1", pressure="0.4 0 0")
t.addObject('TriangleCollisionModel', )
visu = T.addChild('Visu')
visu.addObject('OglModel', template="Vec3", name="Visual", material="Default Diffuse 1 0 0 1 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")
SubsetTopology_refiningMesh.scn
<Node name="root" gravity="-9.81 0 0" dt="0.05">
<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 [MinProximityIntersection] -->
<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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI SubsetTopology] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping] -->
<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 TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [SpringForceField] -->
<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 [SparseGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="3" contactDistance="2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="SquareGravity">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
<MeshGmshLoader name="meshLoader" filename="mesh/truthcylinder1.msh" />
<SubsetTopology template="Vec3" box="-5 -20 -5 5 -10 5" drawROI="0" src="@meshLoader" rest_position="@meshLoader.position" name="Subset" localIndices="1" />
<Node name="in">
<MechanicalObject template="Vec3" name="mecaObj1" position="@../Subset.pointsInROI" />
<TetrahedronSetTopologyContainer name="Container" position="@mecaObj1.position" tetrahedra="@../Subset.tetrahedraInROI" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" drawTetrahedra="0" />
<UniformMass totalMass="15" />
<TetrahedronFEMForceField name="FEM" youngModulus="300" poissonRatio="0.49" />
<TriangleCollisionModel template="Vec3" name="default7" />
<BoxConstraint box_roi="fixedROI" box="-5 -20 -5 5 -17.5 5" drawBoxes="1" />
<Node>
<TriangleSetTopologyContainer name="ContainerTri" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping name="Mapping" input="@../Container" output="@ContainerTri" />
<OglModel name="Visual" color="red" dx="60" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
<Node name="Out">
<MechanicalObject template="Vec3" name="mecaObj2" />
<SparseGridTopology n="4 7 4" position="@../Subset.pointsOutROI" name="name" drawHexahedra="0" />
<UniformMass totalMass="15" />
<HexahedronFEMForceField template="Vec3" name="FEM" youngModulus="50" poissonRatio="0.49" />
<Node name="tetra">
<TetrahedronSetTopologyContainer name="Container" position="@../../Subset.pointsOutROI" tetrahedra="@../../Subset.tetrahedraOutROI" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" drawTetrahedra="0" />
<MechanicalObject name="mecaObj3" />
<BarycentricMapping input="@.." output="@." />
<Node>
<TriangleSetTopologyContainer name="ContainerTri" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping name="Mapping" input="@../Container" output="@ContainerTri" />
<TriangleCollisionModel template="Vec3" name="default7" />
<OglModel name="Visual" color="blue" dx="60" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
<SpringForceField name="Spring" object1="@in/mecaObj1" object2="@Out/tetra/mecaObj3" tags="extraSpring" spring="0 0 10000 0 0
					 1 1 10000 0 0
					 2 2 10000 0 0
					 3 3 10000 0 0
					 4 4 10000 0 0
					 5 5 10000 0 0
					 6 6 10000 0 0
					 7 7 10000 0 0
					 8 8 10000 0 0
					 9 9 10000 0 0
					 10 10 10000 0 0
					 11 11 10000 0 0
					 12 12 10000 0 0
					 13 13 10000 0 0
					 14 14 10000 0 0
					 15 15 10000 0 0
					 16 16 10000 0 0
					 17 17 10000 0 0
					 18 18 10000 0 0
					 19 19 10000 0 0
					 20 20 10000 0 0
					 21 21 10000 0 0
					 22 22 10000 0 0" />
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="-9.81 0 0", dt="0.05")
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.IO.Mesh")
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.SolidMechanics.Spring")
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('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('CollisionPipeline', name="DefaultCollisionPipeline", verbose="0", draw="0", depth="6")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="3", contactDistance="2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
square_gravity = root.addChild('SquareGravity')
square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
square_gravity.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
square_gravity.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/truthcylinder1.msh")
square_gravity.addObject('SubsetTopology', template="Vec3", box="-5 -20 -5 5 -10 5", drawROI="0", src="@meshLoader", rest_position="@meshLoader.position", name="Subset", localIndices="1")
in = SquareGravity.addChild('in')
in.addObject('MechanicalObject', template="Vec3", name="mecaObj1", position="@../Subset.pointsInROI")
in.addObject('TetrahedronSetTopologyContainer', name="Container", position="@mecaObj1.position", tetrahedra="@../Subset.tetrahedraInROI")
in.addObject('TetrahedronSetTopologyModifier', name="Modifier")
in.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo", drawTetrahedra="0")
in.addObject('UniformMass', totalMass="15")
in.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="300", poissonRatio="0.49")
in.addObject('TriangleCollisionModel', template="Vec3", name="default7")
in.addObject('BoxConstraint', box_roi="fixedROI", box="-5 -20 -5 5 -17.5 5", drawBoxes="1")
node = in.addChild('node')
node.addObject('TriangleSetTopologyContainer', name="ContainerTri")
node.addObject('TriangleSetTopologyModifier', name="Modifier")
node.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
node.addObject('Tetra2TriangleTopologicalMapping', name="Mapping", input="@../Container", output="@ContainerTri")
node.addObject('OglModel', name="Visual", color="red", dx="60")
node.addObject('IdentityMapping', input="@..", output="@Visual")
out = SquareGravity.addChild('Out')
out.addObject('MechanicalObject', template="Vec3", name="mecaObj2")
out.addObject('SparseGridTopology', n="4 7 4", position="@../Subset.pointsOutROI", name="name", drawHexahedra="0")
out.addObject('UniformMass', totalMass="15")
out.addObject('HexahedronFEMForceField', template="Vec3", name="FEM", youngModulus="50", poissonRatio="0.49")
tetra = Out.addChild('tetra')
tetra.addObject('TetrahedronSetTopologyContainer', name="Container", position="@../../Subset.pointsOutROI", tetrahedra="@../../Subset.tetrahedraOutROI")
tetra.addObject('TetrahedronSetTopologyModifier', name="Modifier")
tetra.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo", drawTetrahedra="0")
tetra.addObject('MechanicalObject', name="mecaObj3")
tetra.addObject('BarycentricMapping', input="@..", output="@.")
node = tetra.addChild('node')
node.addObject('TriangleSetTopologyContainer', name="ContainerTri")
node.addObject('TriangleSetTopologyModifier', name="Modifier")
node.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
node.addObject('Tetra2TriangleTopologicalMapping', name="Mapping", input="@../Container", output="@ContainerTri")
node.addObject('TriangleCollisionModel', template="Vec3", name="default7")
node.addObject('OglModel', name="Visual", color="blue", dx="60")
node.addObject('IdentityMapping', input="@..", output="@Visual")
square_gravity.addObject('SpringForceField', name="Spring", object1="@in/mecaObj1", object2="@Out/tetra/mecaObj3", tags="extraSpring", spring="0 0 10000 0 0
1 1 10000 0 0
2 2 10000 0 0
3 3 10000 0 0
4 4 10000 0 0
5 5 10000 0 0
6 6 10000 0 0
7 7 10000 0 0
8 8 10000 0 0
9 9 10000 0 0
10 10 10000 0 0
11 11 10000 0 0
12 12 10000 0 0
13 13 10000 0 0
14 14 10000 0 0
15 15 10000 0 0
16 16 10000 0 0
17 17 10000 0 0
18 18 10000 0 0
19 19 10000 0 0
20 20 10000 0 0
21 21 10000 0 0
22 22 10000 0 0")
SubsetTopology_localIndicesOption.scn
<Node name="root" gravity="0 -9.81 0" dt="0.05">
<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 [MinProximityIntersection] -->
<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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [SubsetTopology] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels" />
<CollisionPipeline name="default0" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default1" response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<Node name="SquareGravity">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
<MeshGmshLoader name="meshLoader" filename="mesh/square3.msh" />
<SubsetTopology template="Vec3" box="0.3 0 -0.1 0.6 1 0.1" drawROI="1" src="@meshLoader" rest_position="@meshLoader.position" name="Subset" localIndices="1" />
<Node name="in">
<MechanicalObject template="Vec3" name="mecaObj2" position="@../Subset.pointsInROI" />
<TriangleSetTopologyContainer name="Container" position="@mecaObj2.position" triangles="@../Subset.trianglesInROI" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<DiagonalMass name="default5" massDensity="1.15" />
<TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />
<TriangularBendingSprings template="Vec3" name="FEM-Bend" stiffness="300" damping="1" />
<TriangleCollisionModel template="Vec3" name="default7" />
<Node >
<OglModel name="Visual" color="blue" />
<IdentityMapping input="@.." output="@Visual" />
</Node> </Node>
<Node name="Out">
<MechanicalObject template="Vec3" name="mecaObj2" position="@../Subset.pointsOutROI" />
<TriangleSetTopologyContainer name="Container" position="@mecaObj2.position" triangles="@../Subset.trianglesOutROI" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<DiagonalMass name="default5" massDensity="1.15" />
<TriangleCollisionModel template="Vec3" name="default7" />
<TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />
<TriangularBendingSprings template="Vec3" name="FEM-Bend" stiffness="300" damping="1" />
<FixedProjectiveConstraint template="Vec3" name="default6" indices="0 1" />
<Node >
<OglModel name="Visual" color="red" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.05")
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.IO.Mesh")
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.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels")
root.addObject('CollisionPipeline', name="default0", verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="default1", response="PenalityContactForceField")
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
square_gravity = root.addChild('SquareGravity')
square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
square_gravity.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
square_gravity.addObject('MeshGmshLoader', name="meshLoader", filename="mesh/square3.msh")
square_gravity.addObject('SubsetTopology', template="Vec3", box="0.3 0 -0.1 0.6 1 0.1", drawROI="1", src="@meshLoader", rest_position="@meshLoader.position", name="Subset", localIndices="1")
in = SquareGravity.addChild('in')
in.addObject('MechanicalObject', template="Vec3", name="mecaObj2", position="@../Subset.pointsInROI")
in.addObject('TriangleSetTopologyContainer', name="Container", position="@mecaObj2.position", triangles="@../Subset.trianglesInROI")
in.addObject('TriangleSetTopologyModifier', name="Modifier")
in.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
in.addObject('DiagonalMass', name="default5", massDensity="1.15")
in.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="60")
in.addObject('TriangularBendingSprings', template="Vec3", name="FEM-Bend", stiffness="300", damping="1")
in.addObject('TriangleCollisionModel', template="Vec3", name="default7")
node = in.addChild('node')
node.addObject('OglModel', name="Visual", color="blue")
node.addObject('IdentityMapping', input="@..", output="@Visual")
out = SquareGravity.addChild('Out')
out.addObject('MechanicalObject', template="Vec3", name="mecaObj2", position="@../Subset.pointsOutROI")
out.addObject('TriangleSetTopologyContainer', name="Container", position="@mecaObj2.position", triangles="@../Subset.trianglesOutROI")
out.addObject('TriangleSetTopologyModifier', name="Modifier")
out.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
out.addObject('DiagonalMass', name="default5", massDensity="1.15")
out.addObject('TriangleCollisionModel', template="Vec3", name="default7")
out.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="60")
out.addObject('TriangularBendingSprings', template="Vec3", name="FEM-Bend", stiffness="300", damping="1")
out.addObject('FixedProjectiveConstraint', template="Vec3", name="default6", indices="0 1")
node = Out.addChild('node')
node.addObject('OglModel', name="Visual", color="red")
node.addObject('IdentityMapping', input="@..", output="@Visual")
SubsetTopology_subsetbehaviormodel.scn
<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" 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 [MinProximityIntersection] -->
<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.Engine.Select"/> <!-- Needed to use components [SubsetTopology] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<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.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<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.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showVisual showWireframe" />
<CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="Cylinder" gravity="0 -9.81 0">
<EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver template="GraphScattered" name="default18" iterations="100" tolerance="1e-05" threshold="1e-05"/>
<MechanicalObject template="Rigid3" name="rigid" position="0 0 0 0 0 0 1" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" free_position="0 0 0 0 0 0 1" free_velocity="0 0 0 0 0 0" restScale="1" />
<UniformMass name="default0" totalMass="1.0"/>
<Node name="topology" gravity="0 -9.81 0">
<MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
<MeshTopology src="@loader" name="meshTopology" />
<SubsetTopology template="Vec3" name="Subset" box="-5 -20 -5 5 -10 5" rest_position="@meshTopology.position" edges="@meshTopology.edges" triangles="@meshTopology.triangles" tetrahedra="@meshTopology.tetrahedra" indices="0" localIndices="1" drawROI="0" />
<OglModel template="Vec3" name="visual" position="@meshTopology.position" useNormals="0" computeTangents="1" vertices="@meshTopology.position" triangles="@meshTopology.triangles" material="Default Diffuse 1 0.74902 0.74902 0.74902 1 Ambient 1 0.2 0.2 0.2 1 Specular 0 1 1 1 1 Emissive 0 0 0 0 0 Shininess 0 45" />
<RigidMapping template="Rigid3,Vec3" name="default15" mapForces="0" mapConstraints="0" mapMasses="0" input="@.." output="@visual" />
</Node>
<Node name="InROI" gravity="0 -9.81 0">
<MechanicalObject template="Vec3" name="mobj" position="@../topology/Subset.pointsInROI" velocity="0 0 0" force="0 0 0" externalForce="0 0 0" derivX="0 0 0" free_position="0 0 0" free_velocity="0 0 0" restScale="1" />
<TetrahedronSetTopologyContainer name="container" position="@../topology/Subset.pointsInROI" tetrahedra="@../topology/Subset.tetrahedraInROI" />
<TetrahedronSetTopologyModifier name="default10" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="default12" />
<UniformMass name="mass" vertexMass="15" />
<TetrahedronFEMForceField template="Vec3" name="FEM" poissonRatio="0.49" youngModulus="1000" gatherPt=" " gatherBsize=" " />
<RigidMapping template="Rigid3,Vec3" name="rigidMapping" input="@.." output="@." />
<Node name="Surf" gravity="0 -9.81 0">
<VisualStyle displayFlags="hideWireframe" />
<TriangleSetTopologyContainer name="container" />
<TriangleSetGeometryAlgorithms template="Vec3" />
<TriangleSetTopologyModifier />
<Tetra2TriangleTopologicalMapping input="@../container" output="@container" />
<TriangleCollisionModel template="Vec3" />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('Root', gravity="0 0 0", 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.Engine.Select")
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.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
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('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showVisual showWireframe")
root.addObject('CollisionPipeline', name="DefaultCollisionPipeline", verbose="0", draw="0", depth="6")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
cylinder = Root.addChild('Cylinder', gravity="0 -9.81 0")
cylinder.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
cylinder.addObject('CGLinearSolver', template="GraphScattered", name="default18", iterations="100", tolerance="1e-05", threshold="1e-05")
cylinder.addObject('MechanicalObject', template="Rigid3", name="rigid", position="0 0 0 0 0 0 1", velocity="0 0 0 0 0 0", force="0 0 0 0 0 0", externalForce="0 0 0 0 0 0", derivX="0 0 0 0 0 0", free_position="0 0 0 0 0 0 1", free_velocity="0 0 0 0 0 0", restScale="1")
cylinder.addObject('UniformMass', name="default0", totalMass="1.0")
topology = Cylinder.addChild('topology', gravity="0 -9.81 0")
topology.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
topology.addObject('MeshTopology', src="@loader", name="meshTopology")
topology.addObject('SubsetTopology', template="Vec3", name="Subset", box="-5 -20 -5 5 -10 5", rest_position="@meshTopology.position", edges="@meshTopology.edges", triangles="@meshTopology.triangles", tetrahedra="@meshTopology.tetrahedra", indices="0", localIndices="1", drawROI="0")
topology.addObject('OglModel', template="Vec3", name="visual", position="@meshTopology.position", useNormals="0", computeTangents="1", vertices="@meshTopology.position", triangles="@meshTopology.triangles", material="Default Diffuse 1 0.74902 0.74902 0.74902 1 Ambient 1 0.2 0.2 0.2 1 Specular 0 1 1 1 1 Emissive 0 0 0 0 0 Shininess 0 45")
topology.addObject('RigidMapping', template="Rigid3,Vec3", name="default15", mapForces="0", mapConstraints="0", mapMasses="0", input="@..", output="@visual")
in_roi = Cylinder.addChild('InROI', gravity="0 -9.81 0")
in_roi.addObject('MechanicalObject', template="Vec3", name="mobj", position="@../topology/Subset.pointsInROI", velocity="0 0 0", force="0 0 0", externalForce="0 0 0", derivX="0 0 0", free_position="0 0 0", free_velocity="0 0 0", restScale="1")
in_roi.addObject('TetrahedronSetTopologyContainer', name="container", position="@../topology/Subset.pointsInROI", tetrahedra="@../topology/Subset.tetrahedraInROI")
in_roi.addObject('TetrahedronSetTopologyModifier', name="default10")
in_roi.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="default12")
in_roi.addObject('UniformMass', name="mass", vertexMass="15")
in_roi.addObject('TetrahedronFEMForceField', template="Vec3", name="FEM", poissonRatio="0.49", youngModulus="1000", gatherPt=" ", gatherBsize=" ")
in_roi.addObject('RigidMapping', template="Rigid3,Vec3", name="rigidMapping", input="@..", output="@.")
surf = InROI.addChild('Surf', gravity="0 -9.81 0")
surf.addObject('VisualStyle', displayFlags="hideWireframe")
surf.addObject('TriangleSetTopologyContainer', name="container")
surf.addObject('TriangleSetGeometryAlgorithms', template="Vec3")
surf.addObject('TriangleSetTopologyModifier', )
surf.addObject('Tetra2TriangleTopologicalMapping', input="@../container", output="@container")
surf.addObject('TriangleCollisionModel', template="Vec3")