Gravity
Gravity in world coordinates.
Target: Sofa.Component.MechanicalLoad
namespace: sofa::component::mechanicalload
parents:
- ContextObject
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 |
| gravity | Gravity in the world coordinate system | 0 0 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
Gravity.scn
<Node name="root" dt="0.03333">
<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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<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 [BarycentricMapping] -->
<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.Spring"/> <!-- Needed to use components [RegularGridSpringForceField] -->
<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.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaGraphComponent"/> <!-- Needed to use components [Gravity] -->
<CollisionPipeline verbose="0" depth="10" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.75" contactDistance="0.5" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<DefaultAnimationLoop/>
<Node name="Torus1">
<Gravity gravity="0 -10 0" />
<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" />
<MechanicalObject dx="0" dy="20" dz="0" ry="90" />
<UniformMass totalMass="10" />
<RegularGridTopology nx="6" ny="5" nz="2" xmin="-7.5" xmax="7.5" ymin="-6" ymax="6" zmin="-1.75" zmax="1.75" />
<RegularGridSpringForceField name="Springs" stiffness="350" damping="1" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus2_scale3.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="blue" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf">
<MeshOBJLoader name="loader" filename="mesh/torus2_scale3.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader"/>
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="Torus2">
<Gravity gravity="0 10 0" />
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject dx="0" dy="-20" dz="0" />
<UniformMass totalMass="10" />
<RegularGridTopology nx="6" ny="5" nz="2" xmin="-7.5" xmax="7.5" ymin="-6" ymax="6" zmin="-1.75" zmax="1.75" />
<RegularGridSpringForceField name="Springs" stiffness="350" damping="1" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus2_scale3.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="blue" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf">
<MeshOBJLoader name="loader" filename="mesh/torus2_scale3.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="Floor">
<MeshOBJLoader name="loader" filename="mesh/floor2b.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dy="30.25" scale="0.7" rx="180" />
<TriangleCollisionModel name="FloorTri1" simulated="0" moving="0" />
<LineCollisionModel name="FloorLine1" simulated="0" moving="0" />
<PointCollisionModel name="FloorPoint1" simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_1" filename="mesh/floor2b.obj" scale="0.5" handleSeams="1" />
<OglModel name="FloorV" src="@meshLoader_1" texturename="textures/floor.bmp" rx="180" dy="30" material="Default 
				 Diffuse 1 0.75 0.75 0.75 0.4 
				 Ambient 1 0.2 0.2 0.2 0.4 
				 Specular 0 1 1 1 1 
				 Emissive 0 0 0 0 0 
				 Shininess 0 45" />
</Node>
<Node name="Floor2">
<MeshOBJLoader name="loader" filename="mesh/floor2b.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dy="-30.25" scale="0.7" />
<TriangleCollisionModel name="FloorTri2" simulated="0" moving="0" />
<LineCollisionModel name="FloorLine2" simulated="0" moving="0" />
<PointCollisionModel name="FloorPoint2" simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_2" filename="mesh/floor2b.obj" scale="0.5" handleSeams="1" />
<OglModel name="FloorV" src="@meshLoader_2" texturename="textures/floor.bmp" dy="-30" material="Default 
				 Diffuse 1 0.75 0.75 0.75 0.4 
				 Ambient 1 0.2 0.2 0.2 0.4 
				 Specular 0 1 1 1 1 
				 Emissive 0 0 0 0 0 
				 Shininess 0 45" />/
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.03333")
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.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('RequiredPlugin', name="SofaGraphComponent")
root.addObject('CollisionPipeline', verbose="0", depth="10", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.75", contactDistance="0.5")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
root.addObject('DefaultAnimationLoop', )
torus1 = root.addChild('Torus1')
torus1.addObject('Gravity', gravity="0 -10 0")
torus1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
torus1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus1.addObject('MechanicalObject', dx="0", dy="20", dz="0", ry="90")
torus1.addObject('UniformMass', totalMass="10")
torus1.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-7.5", xmax="7.5", ymin="-6", ymax="6", zmin="-1.75", zmax="1.75")
torus1.addObject('RegularGridSpringForceField', name="Springs", stiffness="350", damping="1")
visu = Torus1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus2_scale3.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="blue")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf = Torus1.addChild('Surf')
surf.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_scale3.obj")
surf.addObject('MeshTopology', src="@loader")
surf.addObject('MechanicalObject', src="@loader")
surf.addObject('TriangleCollisionModel', )
surf.addObject('LineCollisionModel', )
surf.addObject('PointCollisionModel', )
surf.addObject('BarycentricMapping', )
torus2 = root.addChild('Torus2')
torus2.addObject('Gravity', gravity="0 10 0")
torus2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus2.addObject('MechanicalObject', dx="0", dy="-20", dz="0")
torus2.addObject('UniformMass', totalMass="10")
torus2.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-7.5", xmax="7.5", ymin="-6", ymax="6", zmin="-1.75", zmax="1.75")
torus2.addObject('RegularGridSpringForceField', name="Springs", stiffness="350", damping="1")
visu = Torus2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus2_scale3.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="blue")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf = Torus2.addChild('Surf')
surf.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_scale3.obj")
surf.addObject('MeshTopology', src="@loader")
surf.addObject('MechanicalObject', src="@loader")
surf.addObject('TriangleCollisionModel', )
surf.addObject('LineCollisionModel', )
surf.addObject('PointCollisionModel', )
surf.addObject('BarycentricMapping', )
floor = root.addChild('Floor')
floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor2b.obj")
floor.addObject('MeshTopology', src="@loader")
floor.addObject('MechanicalObject', src="@loader", dy="30.25", scale="0.7", rx="180")
floor.addObject('TriangleCollisionModel', name="FloorTri1", simulated="0", moving="0")
floor.addObject('LineCollisionModel', name="FloorLine1", simulated="0", moving="0")
floor.addObject('PointCollisionModel', name="FloorPoint1", simulated="0", moving="0")
floor.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/floor2b.obj", scale="0.5", handleSeams="1")
floor.addObject('OglModel', name="FloorV", src="@meshLoader_1", texturename="textures/floor.bmp", rx="180", dy="30", material="Default
Diffuse 1 0.75 0.75 0.75 0.4
Ambient 1 0.2 0.2 0.2 0.4
Specular 0 1 1 1 1
Emissive 0 0 0 0 0
Shininess 0 45")
floor2 = root.addChild('Floor2')
floor2.addObject('MeshOBJLoader', name="loader", filename="mesh/floor2b.obj")
floor2.addObject('MeshTopology', src="@loader")
floor2.addObject('MechanicalObject', src="@loader", dy="-30.25", scale="0.7")
floor2.addObject('TriangleCollisionModel', name="FloorTri2", simulated="0", moving="0")
floor2.addObject('LineCollisionModel', name="FloorLine2", simulated="0", moving="0")
floor2.addObject('PointCollisionModel', name="FloorPoint2", simulated="0", moving="0")
floor2.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/floor2b.obj", scale="0.5", handleSeams="1")
floor2.addObject('OglModel', name="FloorV", src="@meshLoader_2", texturename="textures/floor.bmp", dy="-30", material="Default
Diffuse 1 0.75 0.75 0.75 0.4
Ambient 1 0.2 0.2 0.2 0.4
Specular 0 1 1 1 1
Emissive 0 0 0 0 0
Shininess 0 45")