InteractionEllipsoidForceField
Outward / inward repulsion applied by an ellipsoid geometry, which can possibly act on several objects.
Vec3d,Rigid3d
Templates:
- Vec3d,Rigid3d
Target: Sofa.Component.MechanicalLoad
namespace: sofa::component::mechanicalload
parents:
- MixedInteractionForceField
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 |
| rayleighStiffness | Rayleigh damping - stiffness matrix coefficient | 0 |
| contacts | Contacts | |
| center | ellipsoid center | |
| vradius | ellipsoid radius | |
| stiffness | force stiffness (positive to repulse outward, negative inward) | 500 |
| damping | force damping | 5 |
| color | ellipsoid color. (default=[0.0,0.5,1.0,1.0]) | 0 0.5 1 1 |
| object2_dof_index | Dof index of object 2 where the forcefield is attached | 0 |
| object2_forces | enable/disable propagation of forces to object 2 | 1 |
| object2_invert | inverse transform from object 2 (use when object 1 is in local coordinates within a frame defined by object 2) | 0 |
| Visualization | ||
| draw | enable/disable drawing of the ellipsoid | 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 |
| object1 | First object associated to this component | MechanicalState<Vec3d> |
| object2 | Second object associated to this component | MechanicalState<Rigid3d> |
Examples
InteractionEllipsoidForceField.scn
<!-- Mechanical InteractionEllipsoidForceField Example -->
<Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
<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 [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint PartialFixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<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.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [InteractionEllipsoidForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField QuadBendingSprings] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<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] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showForceFields showInteractionForceFields showVisual" />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<Node name="RotatingObstacle">
<EulerExplicitSolver name="odesolver" printLog="false" />
<MechanicalObject name="MS2" template="Rigid3" position="0 5 3 0 0 0 1" velocity="0 0 0 -0.1 0 0" />
<UniformMass totalMass="1" />
<PartialFixedProjectiveConstraint indices="0" fixedDirections="1 1 1 0 0 0" />
</Node>
<Node name="SquareCloth1">
<EulerImplicitSolver name="odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject name="MS1" />
<UniformMass totalMass="100" />
<RegularGridTopology nx="20" ny="1" nz="20" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
<BoxROI name="box1" box="-12 7 12 -10 7 12" />
<FixedProjectiveConstraint indices="@box1.indices"/>
<BoxROI name="box2" box="-12 7 12 -10 7 12" />
<FixedProjectiveConstraint indices="@box2.indices"/>
<MeshSpringForceField name="Springs" stiffness="2000" damping="0" />
<QuadBendingSprings name="Bend" stiffness="20" damping="0" />
<InteractionEllipsoidForceField template="Vec3,Rigid3" object1="@MS1" object2="@../RotatingObstacle/MS2" stiffness="1000" damping="1" center="0 0 0 0 -5 0" vradius="6 2 4 2 4 2" object2_forces="false" object2_invert="false" />
<!--EllipsoidForceField stiffness="1000" damping="1" center="0 5 3" vradius="6 2 6" /-->
<Node name="Visu">
<OglModel name="Visual" color="green" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0.0 -2.0 0.0", dt="0.04")
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.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.ODESolver.Forward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
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('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showInteractionForceFields showVisual")
root.addObject('CollisionPipeline', verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="Response")
root.addObject('NewProximityIntersection', alarmDistance="0.002", contactDistance="0.001")
rotating_obstacle = root.addChild('RotatingObstacle')
rotating_obstacle.addObject('EulerExplicitSolver', name="odesolver", printLog="false")
rotating_obstacle.addObject('MechanicalObject', name="MS2", template="Rigid3", position="0 5 3 0 0 0 1", velocity="0 0 0 -0.1 0 0")
rotating_obstacle.addObject('UniformMass', totalMass="1")
rotating_obstacle.addObject('PartialFixedProjectiveConstraint', indices="0", fixedDirections="1 1 1 0 0 0")
square_cloth1 = root.addChild('SquareCloth1')
square_cloth1.addObject('EulerImplicitSolver', name="odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
square_cloth1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
square_cloth1.addObject('MechanicalObject', name="MS1")
square_cloth1.addObject('UniformMass', totalMass="100")
square_cloth1.addObject('RegularGridTopology', nx="20", ny="1", nz="20", xmin="12", xmax="-12", ymin="7", ymax="7", zmin="-12", zmax="12")
square_cloth1.addObject('BoxROI', name="box1", box="-12 7 12 -10 7 12")
square_cloth1.addObject('FixedProjectiveConstraint', indices="@box1.indices")
square_cloth1.addObject('BoxROI', name="box2", box="-12 7 12 -10 7 12")
square_cloth1.addObject('FixedProjectiveConstraint', indices="@box2.indices")
square_cloth1.addObject('MeshSpringForceField', name="Springs", stiffness="2000", damping="0")
square_cloth1.addObject('QuadBendingSprings', name="Bend", stiffness="20", damping="0")
square_cloth1.addObject('InteractionEllipsoidForceField', template="Vec3,Rigid3", object1="@MS1", object2="@../RotatingObstacle/MS2", stiffness="1000", damping="1", center="0 0 0 0 -5 0", vradius="6 2 4 2 4 2", object2_forces="false", object2_invert="false")
visu = SquareCloth1.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="green")
visu.addObject('IdentityMapping', input="@..", output="@Visual")