ConstantForceField
This component belongs to the category of ForceField. The ConstantForceField is a simple force field applying the same constant force on each node. This force field is not integrated over the domain of our object, but simply distributed over the number of nodes.
Usage
As a Forcefield, the ConstantForceField requires a MechanicalObject and the associated solvers (integration scheme and linear solver), as well as a PointSetTopologyContainer.
Constant forces applied to given degrees of freedom.
Rigid2d
Templates:
- Rigid2d
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Rigid2d> |
| topology | link to the topology container | BaseMeshTopology |
Rigid3d
Templates:
- Rigid3d
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Rigid3d> |
| topology | link to the topology container | BaseMeshTopology |
Vec1d
Templates:
- Vec1d
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Vec1d> |
| topology | link to the topology container | BaseMeshTopology |
Vec2d
Templates:
- Vec2d
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Vec2d> |
| topology | link to the topology container | BaseMeshTopology |
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Vec3d> |
| topology | link to the topology container | BaseMeshTopology |
Vec6d
Templates:
- Vec6d
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 |
| indices | indices where the forces are applied | |
| indexFromEnd | Concerned DOFs indices are numbered from the end of the MState DOFs vector. (default=false) | 0 |
| Force info | ||
| forces | vector containing the force amplitude applied at each node | |
| totalForce | total force for all points, will be distributed uniformly over points | |
| Visualization | ||
| showArrowSize | Size of the drawn arrows (0->no arrows, sign->direction of drawing. (default=0) | 0 |
| showColor | Color for object display (default: [0.2,0.9,0.3,1.0]) | 0.2 0.9 0.3 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 |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| mstate | MechanicalState used by this component | MechanicalState<Vec6d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
ConstantForceField.scn
<Node name="root" dt="0.05" gravity="0 0 0">
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<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.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<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 [TriangleFEMForceField] -->
<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 [InteractiveCamera VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<!-- Constant force for a deformable -->
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop computeBoundingBox="false"/>
<InteractiveCamera position="1.27 0.48 4.5" orientation="0 0 0 1" distance="3.86" fieldOfView="45"/>
<Node name="BasicDeformableObject" >
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject position="0 0 0 1 0 0 1 1 0 0 1 0" velocity="0 0 0 0 0 0 0 0 0 0 0 0" />
<UniformMass vertexMass="0.1" />
<MeshTopology triangles="0 1 2 0 2 3" />
<!-- <FixedProjectiveConstraint indices="2 3"/>-->
<TriangleFEMForceField name="FEM0" youngModulus="100" poissonRatio="0.3" method="large" />
<ConstantForceField indices="0 1 2 3" forces="-1 -1 0 1 -1 0 1 1 0 -1 1 0" showArrowSize="0.5" printLog="1"/>
<Node name="Visu">
<OglModel name="Visual" color="red" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
<Node name="TorusRigid">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
<UniformMass totalMass="1.0"/>
<!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
<ConstantForceField indices="0" forces="0 0.10 0 0 1 0" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" scale="0.3" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.05", gravity="0 0 0")
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.Mapping.NonLinear")
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', computeBoundingBox="false")
root.addObject('InteractiveCamera', position="1.27 0.48 4.5", orientation="0 0 0 1", distance="3.86", fieldOfView="45")
basic_deformable_object = root.addChild('BasicDeformableObject')
basic_deformable_object.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighMass="0.1")
basic_deformable_object.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
basic_deformable_object.addObject('MechanicalObject', position="0 0 0 1 0 0 1 1 0 0 1 0", velocity="0 0 0 0 0 0 0 0 0 0 0 0")
basic_deformable_object.addObject('UniformMass', vertexMass="0.1")
basic_deformable_object.addObject('MeshTopology', triangles="0 1 2 0 2 3")
basic_deformable_object.addObject('TriangleFEMForceField', name="FEM0", youngModulus="100", poissonRatio="0.3", method="large")
basic_deformable_object.addObject('ConstantForceField', indices="0 1 2 3", forces="-1 -1 0 1 -1 0 1 1 0 -1 1 0", showArrowSize="0.5", printLog="1")
visu = BasicDeformableObject.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="red")
visu.addObject('IdentityMapping', input="@..", output="@Visual")
torus_rigid = root.addChild('TorusRigid')
torus_rigid.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_rigid.addObject('CGLinearSolver', iterations="25", threshold="0.00000001", tolerance="1e-5")
torus_rigid.addObject('MechanicalObject', template="Rigid3", dx="2", dy="0", dz="0", rx="0", ry="0", rz="0", scale="1.0")
torus_rigid.addObject('UniformMass', totalMass="1.0")
torus_rigid.addObject('ConstantForceField', indices="0", forces="0 0.10 0 0 1 0")
visu = TorusRigid.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", scale="0.3", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")