CompositeLinearSystem

Component acting like a linear system, but delegates the linear system functionalities to a list of real linear systems.

BlockDiagonalMatrixMat3x3d

Templates:

• BlockDiagonalMatrixMat3x3d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<BlockDiagonalMatrixMat3x3d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<BlockDiagonalMatrixMat3x3d>

CompressedRowSparseMatrixMat2x2d

Templates:

• CompressedRowSparseMatrixMat2x2d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat2x2d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat2x2d>

CompressedRowSparseMatrixMat3x3d

Templates:

• CompressedRowSparseMatrixMat3x3d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat3x3d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat3x3d>

CompressedRowSparseMatrixMat4x4d

Templates:

• CompressedRowSparseMatrixMat4x4d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat4x4d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat4x4d>

CompressedRowSparseMatrixMat6x6d

Templates:

• CompressedRowSparseMatrixMat6x6d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat6x6d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat6x6d>

CompressedRowSparseMatrixMat8x8d

Templates:

• CompressedRowSparseMatrixMat8x8d

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat8x8d>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixMat8x8d>

CompressedRowSparseMatrixd

Templates:

• CompressedRowSparseMatrixd

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<CompressedRowSparseMatrixd>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<CompressedRowSparseMatrixd>

DiagonalMatrix

Templates:

• DiagonalMatrix

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<DiagonalMatrix>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<DiagonalMatrix>

FullMatrix

Templates:

• FullMatrix

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<FullMatrix>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<FullMatrix>

RotationMatrixd

Templates:

• RotationMatrixd

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<RotationMatrixd>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<RotationMatrixd>

SparseMatrix

Templates:

• SparseMatrix

Target: Sofa.Component.LinearSystem

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

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
linearSystems	List of linear systems to assemble	TypedMatrixLinearSystem<SparseMatrix>
solverLinearSystem	Among the list of linear systems, which one is to be used by the linear solver	TypedMatrixLinearSystem<SparseMatrix>

Examples

CompositeLinearSystem.scn

XMLPython

<Node name="root" dt="0.02" gravity="0 -10 0">
    <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 [SparseLDLSolver] -->
    <RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [CompositeLinearSystem MatrixLinearSystem] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <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 [HexahedronFEMForceField] -->
    <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] -->

    <VisualStyle displayFlags="showBehaviorModels showWireframe" />

    <DefaultAnimationLoop/>
    <DefaultVisualManagerLoop/>

    <DefaultVisualManagerLoop/>

    <Node name="node">
        <EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />

        <Node name="matrices">
            <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system"/>
            <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="K" assembleMass="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
            <MatrixLinearSystem template="CompressedRowSparseMatrixd" name="M" assembleStiffness="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
            <GlobalSystemMatrixImage name="imageA" linearSystem="@system"/>
            <GlobalSystemMatrixImage name="imageK" linearSystem="@K"/>
            <GlobalSystemMatrixImage name="imageM" linearSystem="@M"/>
        </Node>
        <CompositeLinearSystem template="CompressedRowSparseMatrixd" name="solverSystem" linearSystems="@matrices/system @matrices/K @matrices/M" solverLinearSystem="@matrices/system"/>
        <SparseLDLSolver template="CompressedRowSparseMatrixd" linearSystem="@solverSystem"/>


        <Node name="object_a">

            <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="FEM_DOFs_a" position="@FEM_grid.position" printLog="false"/>
                <HexahedronSetGeometryAlgorithms/>
                <UniformMass vertexMass="1"/>
                <HexahedronFEMForceField name="FEM_a" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>

                <RigidMapping 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="@../FEM_DOFs_a" output="@visu"/>
                </Node>
            </Node>
        </Node>

        <Node name="object_b">
            <MechanicalObject template="Vec3d" name="FEM_DOFs_b" 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/>
            <UniformMass 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="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="@../FEM_DOFs_b" output="@visu"/>
            </Node>
        </Node>

        <Node name="object_c">

            <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="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="FEM_DOFs_c" position="@FEM_grid.position" printLog="false"/>
                <HexahedronSetGeometryAlgorithms/>
                <UniformMass vertexMass="1"/>
                <HexahedronFEMForceField name="FEM_c" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>

                <RigidMapping 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="@../FEM_DOFs_c" output="@visu"/>
                </Node>
            </Node>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02", gravity="0 -10 0")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSystem")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('RequiredPlugin', name="SofaMatrix")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showWireframe")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('DefaultVisualManagerLoop', )

   node = root.addChild('node')

   node.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")

   matrices = node.addChild('matrices')

   matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="system")
   matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="K", assembleMass="false", assembleDamping="false", assembleGeometricStiffness="false", applyProjectiveConstraints="false")
   matrices.addObject('MatrixLinearSystem', template="CompressedRowSparseMatrixd", name="M", assembleStiffness="false", assembleDamping="false", assembleGeometricStiffness="false", applyProjectiveConstraints="false")
   matrices.addObject('GlobalSystemMatrixImage', name="imageA", linearSystem="@system")
   matrices.addObject('GlobalSystemMatrixImage', name="imageK", linearSystem="@K")
   matrices.addObject('GlobalSystemMatrixImage', name="imageM", linearSystem="@M")

   node.addObject('CompositeLinearSystem', template="CompressedRowSparseMatrixd", name="solverSystem", linearSystems="@matrices/system @matrices/K @matrices/M", solverLinearSystem="@matrices/system")
   node.addObject('SparseLDLSolver', template="CompressedRowSparseMatrixd", linearSystem="@solverSystem")

   object_a = node.addChild('object_a')

   object_a.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="0", xmax="0", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
   object_a.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
   object_a.addObject('FixedProjectiveConstraint', indices="0")

   fem = object_a.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="FEM_DOFs_a", position="@FEM_grid.position", printLog="false")
   fem.addObject('HexahedronSetGeometryAlgorithms', )
   fem.addObject('UniformMass', vertexMass="1")
   fem.addObject('HexahedronFEMForceField', name="FEM_a", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
   fem.addObject('RigidMapping', 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="@../FEM_DOFs_a", output="@visu")

   object_b = node.addChild('object_b')

   object_b.addObject('MechanicalObject', template="Vec3d", name="FEM_DOFs_b", printLog="false")
   object_b.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="20", xmin="-1.5", xmax="1.5", ymin="-9", ymax="-6", zmin="0", zmax="19")
   object_b.addObject('HexahedronSetGeometryAlgorithms', )
   object_b.addObject('UniformMass', totalMass="320")
   object_b.addObject('BoxROI', template="Vec3d", name="box", box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001")
   object_b.addObject('FixedProjectiveConstraint', indices="@box.indices")
   object_b.addObject('HexahedronFEMForceField', name="FEM_b", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")

   visual = object_b.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="@../FEM_DOFs_b", output="@visu")

   object_c = node.addChild('object_c')

   object_c.addObject('RegularGridTopology', name="grid", nx="1", ny="1", nz="20", xmin="5", xmax="5", ymin="-1.5", ymax="1.5", zmin="0", zmax="19")
   object_c.addObject('MechanicalObject', template="Rigid3d", name="DOFs", showObject="true", showObjectScale="1", position="@grid.position")
   object_c.addObject('FixedProjectiveConstraint', indices="0")

   fem = object_c.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="FEM_DOFs_c", position="@FEM_grid.position", printLog="false")
   fem.addObject('HexahedronSetGeometryAlgorithms', )
   fem.addObject('UniformMass', vertexMass="1")
   fem.addObject('HexahedronFEMForceField', name="FEM_c", youngModulus="10000", poissonRatio="0.45", method="large", printLog="false")
   fem.addObject('RigidMapping', 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="@../FEM_DOFs_c", output="@visu")