MatrixLinearSystem
Linear system dedicated to a Band Tri Diagonal matrix. Linear system.
BTDMatrix6d
Templates:
- BTDMatrix6d
Target: Sofa.Component.LinearSolver.Direct
namespace: sofa::component::linearsystem
parents:
- TypedMatrixLinearSystem
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 |
| matrixSize | Size of the global matrix | |
| assembleStiffness | If true, the stiffness is added to the global matrix | 1 |
| assembleMass | If true, the mass is added to the global matrix | 1 |
| assembleDamping | If true, the damping is added to the global matrix | 1 |
| assembleGeometricStiffness | If true, the geometric stiffness of mappings is added to the global matrix | 1 |
| applyProjectiveConstraints | If true, projective constraints are applied on the global matrix | 1 |
| applyMappedComponents | If true, mapped components contribute to the global matrix | 1 |
| checkIndices | If true, indices are verified before being added in to the global matrix, favoring security over speed | 0 |
| parallelAssemblyIndependentMatrices | If true, independent matrices (global matrix vs mapped matrices) are assembled in parallel | 0 |
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
MatrixLinearSystem.scn
<Node name="root" dt="0.02" gravity="0 -10 0">
<Node name="plugins">
<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.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT] -->
<RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [CompositeLinearSystem MatrixLinearSystem MatrixProjectionMethod] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping SubsetMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [MeshMatrixMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
<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.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 [HexahedronSetGeometryAlgorithms] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaMatrix"/> <!-- Needed to use components [GlobalSystemMatrixImage] -->
</Node>
<VisualStyle displayFlags="showBehaviorModels showWireframe" />
<DefaultAnimationLoop/>
<DefaultVisualManagerLoop/>
<Node name="rigidSections">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<Node name="matrices">
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system" checkIndices="true" printLog="true"/>
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="GS" assembleStiffness="false" assembleMass="false" assembleDamping="false" assembleGeometricStiffness="true" applyProjectiveConstraints="false"/>
<GlobalSystemMatrixImage name="imageA" linearSystem="@system"/>
<GlobalSystemMatrixImage name="imageGS" linearSystem="@GS"/>
</Node>
<CompositeLinearSystem template="CompressedRowSparseMatrixd" name="solverSystem" linearSystems="@matrices/system @matrices/GS" solverLinearSystem="@matrices/system"/>
<EigenSimplicialLDLT template="CompressedRowSparseMatrixd" linearSystem="@solverSystem"/>
<Node name="red">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="0" xmax="0" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="DOFs" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<MeshMatrixMass totalMass="320"/>
<HexahedronFEMForceField name="FEM_a" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping geometricStiffness="2" globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 1 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../DOFs" output="@visu"/>
</Node>
</Node>
</Node>
<Node name="green">
<VisualStyle displayFlags="showInteractionForceFields" />
<MechanicalObject template="Vec3d" name="DOFs" printLog="false"/>
<RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" />
<HexahedronSetGeometryAlgorithms/>
<MeshMatrixMass totalMass="320"/>
<BoxROI template="Vec3d" name="box" box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001"/>
<FixedProjectiveConstraint indices="@box.indices" />
<HexahedronFEMForceField name="FEM_b" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<Node name="a">
<BoxROI name="box" position="@../DOFs.position" box="1.4 -6.1 18.9 1.6 -5.9 19.1" drawBoxes="true" doUpdate="false"/>
<MechanicalObject template="Vec3d" name="DOFs"/>
<SubsetMapping input="@../DOFs" output="@DOFs" indices="@box.indices"/>
</Node>
<Node name="b">
<BoxROI name="box" position="@../DOFs.position" box="1.4 -6.1 1.9 1.6 -5.9 2.1" drawBoxes="true" doUpdate="false"/>
<MechanicalObject template="Vec3d" name="DOFs"/>
<SubsetMapping input="@../DOFs" output="@DOFs" indices="@box.indices"/>
</Node>
<MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/a/DOFs"/>
<MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/b/DOFs"/>
<MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/a/DOFs"/>
<MatrixProjectionMethod areJacobiansConstant="true" mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/b/DOFs"/>
<SpringForceField object1="@a/DOFs" object2="@b/DOFs" spring="0 0 100 1 1" showArrowSize="0.05" drawMode="2"/>
<Node name="Visual">
<RegularGridTopology name="grid" n="@../grid.n" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="2" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 1 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../DOFs" output="@visu"/>
</Node>
</Node>
<Node name="blue">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="5" xmax="5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="intermediateMapping"> <!-- this mapping is introduced just to verify that geometric stiffness is well projected -->
<MechanicalObject template="Rigid3d" name="DOFs" showObject="false"/>
<ConstantForceField forces="0 0 0.0005 0 0 0"/>
<IdentityMapping input="@../DOFs" output="@DOFs"/>
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="DOFs" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<MeshMatrixMass totalMass="320"/>
<HexahedronFEMForceField name="FEM_c" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping geometricStiffness="2" globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 0 1 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../DOFs" output="@visu"/>
</Node>
</Node>
</Node>
</Node>
<Node name="spring">
<VisualStyle displayFlags="showInteractionForceFields" />
<Node name="nonMappedDOFsSpring">
<SpringForceField object1="@red/DOFs" object2="@blue/DOFs" spring="19 19 50 1 1" showArrowSize="0.05" drawMode="2"/>
</Node>
<Node name="springBetweenMappedAndNonMapped">
<BoxROI position="@red/FEM/DOFs.position" box="-1.6 -1.6 18.9 -1.4 -1.4 19.1" drawBoxes="true"/>
<BoxROI position="@green/DOFs.position" box="-1.6 -6.1 18.9 -1.4 -5.9 19.1" drawBoxes="true"/>
<SpringForceField object1="@red/FEM/DOFs" object2="@green/DOFs" spring="304 316 100 1 1" showArrowSize="0.05" drawMode="2"/>
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.02", gravity="0 -10 0")
plugins = root.addChild('plugins')
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSystem")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
plugins.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
plugins.addObject('RequiredPlugin', name="SofaMatrix")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showWireframe")
root.addObject('DefaultAnimationLoop', )
root.addObject('DefaultVisualManagerLoop', )
rigid_sections = root.addChild('rigidSections')
rigid_sections.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
matrices = rigidSections.addChild('matrices')
matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="system", checkIndices="true", printLog="true")
matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="GS", assembleStiffness="false", assembleMass="false", assembleDamping="false", assembleGeometricStiffness="true", applyProjectiveConstraints="false")
matrices.addObject('GlobalSystemMatrixImage', name="imageA", linearSystem="@system")
matrices.addObject('GlobalSystemMatrixImage', name="imageGS", linearSystem="@GS")
rigid_sections.addObject('CompositeLinearSystem', template="CompressedRowSparseMatrixd", name="solverSystem", linearSystems="@matrices/system @matrices/GS", solverLinearSystem="@matrices/system")
rigid_sections.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixd", linearSystem="@solverSystem")
red = rigidSections.addChild('red')
red.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="0", xmax="0", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
red.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
red.addObject('FixedProjectiveConstraint', indices="0")
fem = red.addChild('FEM')
fem.addObject('RegularGridTopology', name="FEM_grid", nx="4", ny="4", nz="20", xmin="-1.5", xmax="1.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
fem.addObject('MechanicalObject', template="Vec3d", name="DOFs", position="@FEM_grid.position", printLog="false")
fem.addObject('HexahedronSetGeometryAlgorithms', )
fem.addObject('MeshMatrixMass', totalMass="320")
fem.addObject('HexahedronFEMForceField', name="FEM_a", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
fem.addObject('RigidMapping', geometricStiffness="2", globalToLocalCoords="true", rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19")
visual = FEM.addChild('Visual')
visual.addObject('RegularGridTopology', name="grid", nx="2", ny="2", nz="20", xmin="-1.5", xmax="1.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19", computeTriangleList="false")
visual.addObject('OglModel', name="visu", lineWidth="5", material="Default Diffuse 0 1 1 1 1 Ambient 1 1 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
visual.addObject('BarycentricMapping', input="@../DOFs", output="@visu")
green = rigidSections.addChild('green')
green.addObject('VisualStyle', displayFlags="showInteractionForceFields")
green.addObject('MechanicalObject', template="Vec3d", name="DOFs", printLog="false")
green.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="20", xmin="-1.5", xmax="1.5", ymin="-9", ymax="-6", zmin="0", zmax="19")
green.addObject('HexahedronSetGeometryAlgorithms', )
green.addObject('MeshMatrixMass', totalMass="320")
green.addObject('BoxROI', template="Vec3d", name="box", box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001")
green.addObject('FixedProjectiveConstraint', indices="@box.indices")
green.addObject('HexahedronFEMForceField', name="FEM_b", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
a = green.addChild('a')
a.addObject('BoxROI', name="box", position="@../DOFs.position", box="1.4 -6.1 18.9 1.6 -5.9 19.1", drawBoxes="true", doUpdate="false")
a.addObject('MechanicalObject', template="Vec3d", name="DOFs")
a.addObject('SubsetMapping', input="@../DOFs", output="@DOFs", indices="@box.indices")
b = green.addChild('b')
b.addObject('BoxROI', name="box", position="@../DOFs.position", box="1.4 -6.1 1.9 1.6 -5.9 2.1", drawBoxes="true", doUpdate="false")
b.addObject('MechanicalObject', template="Vec3d", name="DOFs")
b.addObject('SubsetMapping', input="@../DOFs", output="@DOFs", indices="@box.indices")
green.addObject('MatrixProjectionMethod', areJacobiansConstant="true", mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/a/DOFs")
green.addObject('MatrixProjectionMethod', areJacobiansConstant="true", mechanicalStates="@/rigidSections/green/a/DOFs @/rigidSections/green/b/DOFs")
green.addObject('MatrixProjectionMethod', areJacobiansConstant="true", mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/a/DOFs")
green.addObject('MatrixProjectionMethod', areJacobiansConstant="true", mechanicalStates="@/rigidSections/green/b/DOFs @/rigidSections/green/b/DOFs")
green.addObject('SpringForceField', object1="@a/DOFs", object2="@b/DOFs", spring="0 0 100 1 1", showArrowSize="0.05", drawMode="2")
visual = green.addChild('Visual')
visual.addObject('RegularGridTopology', name="grid", n="@../grid.n", xmin="-1.5", xmax="1.5", ymin="-9", ymax="-6", zmin="0", zmax="19", computeTriangleList="false")
visual.addObject('OglModel', name="visu", lineWidth="2", material="Default Diffuse 0 1 1 1 1 Ambient 1 0 1 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
visual.addObject('BarycentricMapping', input="@../DOFs", output="@visu")
blue = rigidSections.addChild('blue')
blue.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="5", xmax="5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
blue.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
blue.addObject('FixedProjectiveConstraint', indices="0")
intermediate_mapping = blue.addChild('intermediateMapping')
intermediate_mapping.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="false")
intermediate_mapping.addObject('ConstantForceField', forces="0 0 0.0005 0 0 0")
intermediate_mapping.addObject('IdentityMapping', input="@../DOFs", output="@DOFs")
fem = intermediateMapping.addChild('FEM')
fem.addObject('RegularGridTopology', name="FEM_grid", nx="4", ny="4", nz="20", xmin="3.5", xmax="6.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
fem.addObject('MechanicalObject', template="Vec3d", name="DOFs", position="@FEM_grid.position", printLog="false")
fem.addObject('HexahedronSetGeometryAlgorithms', )
fem.addObject('MeshMatrixMass', totalMass="320")
fem.addObject('HexahedronFEMForceField', name="FEM_c", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
fem.addObject('RigidMapping', geometricStiffness="2", globalToLocalCoords="true", rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19")
visual = FEM.addChild('Visual')
visual.addObject('RegularGridTopology', name="grid", nx="2", ny="2", nz="20", xmin="3.5", xmax="6.5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19", computeTriangleList="false")
visual.addObject('OglModel', name="visu", lineWidth="5", material="Default Diffuse 0 1 1 1 1 Ambient 1 0 0 1 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
visual.addObject('BarycentricMapping', input="@../DOFs", output="@visu")
spring = rigidSections.addChild('spring')
spring.addObject('VisualStyle', displayFlags="showInteractionForceFields")
non_mapped_do_fs_spring = spring.addChild('nonMappedDOFsSpring')
non_mapped_do_fs_spring.addObject('SpringForceField', object1="@red/DOFs", object2="@blue/DOFs", spring="19 19 50 1 1", showArrowSize="0.05", drawMode="2")
spring_between_mapped_and_non_mapped = spring.addChild('springBetweenMappedAndNonMapped')
spring_between_mapped_and_non_mapped.addObject('BoxROI', position="@red/FEM/DOFs.position", box="-1.6 -1.6 18.9 -1.4 -1.4 19.1", drawBoxes="true")
spring_between_mapped_and_non_mapped.addObject('BoxROI', position="@green/DOFs.position", box="-1.6 -6.1 18.9 -1.4 -5.9 19.1", drawBoxes="true")
spring_between_mapped_and_non_mapped.addObject('SpringForceField', object1="@red/FEM/DOFs", object2="@green/DOFs", spring="304 316 100 1 1", showArrowSize="0.05", drawMode="2")