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ConicalForceField

Repulsion applied by a cone toward the exterior

Templates: - Vec3d

Target: Sofa.Component.MechanicalLoad

namespace: sofa::component::mechanicalload

parents: - ForceField

Data:

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the objet 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
isCompliance Consider the component as a compliance, else as a stiffness 0
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
coneCenter cone center
coneHeight cone height
coneAngle cone angle 10
stiffness force stiffness 500
damping force damping 5
color cone color. (default=0.0,0.0,0.0,1.0,1.0) 0 0 1 1

Outward repulsion applied by a cone geometry.

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.MechanicalLoad

namespace: sofa::component::mechanicalload

parents:

  • ForceField

Data

Name Description Default value
name object name unnamed
printLog if true, emits extra messages at runtime. 0
tags list of the subsets the objet 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
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
coneCenter cone center
coneHeight cone height
coneAngle cone angle 10
stiffness force stiffness 500
damping force damping 5
color cone color. (default=0.0,0.0,0.0,1.0,1.0) 0 0 1 1
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
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec3d>

Examples

ConicalForceField.scn

<Node name="root" dt="0.01" gravity="0 -10 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 [DiscreteIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader SphereLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConicalForceField] -->
    <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.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <DefaultAnimationLoop/>
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <DiscreteIntersection />
    <Node name="Liver">
        <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/liver.msh" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" template="Vec3" name="Liver" />
        <UniformMass name="mass" vertexMass="0.05" />
        <TetrahedronFEMForceField name="FEM" youngModulus="5000" poissonRatio="0.3" computeGlobalMatrix="false" method="large" />
        <ConicalForceField template="Vec3" coneCenter="0.0 -10.0 0.0" coneHeight="0 20 0" coneAngle="40" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" handleSeams="1" />
            <OglModel name="VisualModel" src="@meshLoader_0" color="red" />
            <BarycentricMapping input="@.." output="@VisualModel" />
        </Node>
        <Node name="Surf">
        <SphereLoader filename="mesh/liver.sph" />
            <MechanicalObject position="@[-1].position" />
            <SphereCollisionModel name="CollisionModel" listRadius="@[-2].listRadius" />
            <BarycentricMapping />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", gravity="0 -10 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.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.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )

   liver = root.addChild('Liver')

   liver.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   liver.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   liver.addObject('MeshGmshLoader', name="loader", filename="mesh/liver.msh")
   liver.addObject('MeshTopology', src="@loader")
   liver.addObject('MechanicalObject', src="@loader", template="Vec3", name="Liver")
   liver.addObject('UniformMass', name="mass", vertexMass="0.05")
   liver.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="5000", poissonRatio="0.3", computeGlobalMatrix="false", method="large")
   liver.addObject('ConicalForceField', template="Vec3", coneCenter="0.0 -10.0 0.0", coneHeight="0 20 0", coneAngle="40")

   visu = Liver.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/liver-smooth.obj", handleSeams="1")
   visu.addObject('OglModel', name="VisualModel", src="@meshLoader_0", color="red")
   visu.addObject('BarycentricMapping', input="@..", output="@VisualModel")

   surf = Liver.addChild('Surf')

   surf.addObject('SphereLoader', filename="mesh/liver.sph")
   surf.addObject('MechanicalObject', position="@[-1].position")
   surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@[-2].listRadius")
   surf.addObject('BarycentricMapping', )