PlaneForceField
Repulsion along the normal to a plane.
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 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 |
| normal | plane normal. (default=[0,1,0]) | |
| d | plane d coef. (default=0) | 0 |
| stiffness | force stiffness. (default=500) | 500 |
| damping | force damping. (default=5) | 5 |
| maxForce | if non-null , the max force that can be applied to the object. (default=0) | 0 |
| bilateral | if true the plane force field is applied on both sides. (default=false) | 0 |
| localRange | optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning) | -1 -1 |
| planeColor | plane color. (default=[0.0,0.5,0.2,1.0]) | 0 0.5 0.2 1 |
| Visualization | ||
| showPlane | enable/disable drawing of plane. (default=false) | 0 |
| showPlaneSize | plane display size if draw is enabled. (default=10) | 10 |
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> |
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 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 |
| normal | plane normal. (default=[0,1,0]) | |
| d | plane d coef. (default=0) | 0 |
| stiffness | force stiffness. (default=500) | 500 |
| damping | force damping. (default=5) | 5 |
| maxForce | if non-null , the max force that can be applied to the object. (default=0) | 0 |
| bilateral | if true the plane force field is applied on both sides. (default=false) | 0 |
| localRange | optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning) | -1 -1 |
| planeColor | plane color. (default=[0.0,0.5,0.2,1.0]) | 0 0.5 0.2 1 |
| Visualization | ||
| showPlane | enable/disable drawing of plane. (default=false) | 0 |
| showPlaneSize | plane display size if draw is enabled. (default=10) | 10 |
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> |
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 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 |
| normal | plane normal. (default=[0,1,0]) | |
| d | plane d coef. (default=0) | 0 |
| stiffness | force stiffness. (default=500) | 500 |
| damping | force damping. (default=5) | 5 |
| maxForce | if non-null , the max force that can be applied to the object. (default=0) | 0 |
| bilateral | if true the plane force field is applied on both sides. (default=false) | 0 |
| localRange | optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning) | -1 -1 |
| planeColor | plane color. (default=[0.0,0.5,0.2,1.0]) | 0 0.5 0.2 1 |
| Visualization | ||
| showPlane | enable/disable drawing of plane. (default=false) | 0 |
| showPlaneSize | plane display size if draw is enabled. (default=10) | 10 |
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> |
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 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 |
| normal | plane normal. (default=[0,1,0]) | |
| d | plane d coef. (default=0) | 0 |
| stiffness | force stiffness. (default=500) | 500 |
| damping | force damping. (default=5) | 5 |
| maxForce | if non-null , the max force that can be applied to the object. (default=0) | 0 |
| bilateral | if true the plane force field is applied on both sides. (default=false) | 0 |
| localRange | optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning) | -1 -1 |
| planeColor | plane color. (default=[0.0,0.5,0.2,1.0]) | 0 0.5 0.2 1 |
| Visualization | ||
| showPlane | enable/disable drawing of plane. (default=false) | 0 |
| showPlaneSize | plane display size if draw is enabled. (default=10) | 10 |
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> |
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 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 |
| normal | plane normal. (default=[0,1,0]) | |
| d | plane d coef. (default=0) | 0 |
| stiffness | force stiffness. (default=500) | 500 |
| damping | force damping. (default=5) | 5 |
| maxForce | if non-null , the max force that can be applied to the object. (default=0) | 0 |
| bilateral | if true the plane force field is applied on both sides. (default=false) | 0 |
| localRange | optional range of local DOF indices. Any computation involving indices outside of this range are discarded (useful for parallelization using mesh partitioning) | -1 -1 |
| planeColor | plane color. (default=[0.0,0.5,0.2,1.0]) | 0 0.5 0.2 1 |
| Visualization | ||
| showPlane | enable/disable drawing of plane. (default=false) | 0 |
| showPlaneSize | plane display size if draw is enabled. (default=10) | 10 |
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> |
Examples
PlaneForceField.scn
<Node name="root" dt="0.01">
<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.Geometry"/> <!-- Needed to use components [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.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
<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.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="M1">
<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 />
<UniformMass totalMass="10" />
<RegularGridTopology nx="2" ny="2" nz="2" xmin="-3.5" xmax="3.5" ymin="-3.5" ymax="3.5" zmin="-3.5" zmax="3.5" />
<RegularGridSpringForceField name="Springs" stiffness="1000" />
<PlaneForceField normal="0 1 0" d="-10" stiffness="100000" showPlane="1" showPlaneSize="20"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/smCube125.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="blue" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Collis">
<MeshOBJLoader name="loader" filename="mesh/smCube125.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping input="@.." output="@Collis" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
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.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.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
m1 = root.addChild('M1')
m1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
m1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
m1.addObject('MechanicalObject', )
m1.addObject('UniformMass', totalMass="10")
m1.addObject('RegularGridTopology', nx="2", ny="2", nz="2", xmin="-3.5", xmax="3.5", ymin="-3.5", ymax="3.5", zmin="-3.5", zmax="3.5")
m1.addObject('RegularGridSpringForceField', name="Springs", stiffness="1000")
m1.addObject('PlaneForceField', normal="0 1 0", d="-10", stiffness="100000", showPlane="1", showPlaneSize="20")
visu = M1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/smCube125.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="blue")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
collis = M1.addChild('Collis')
collis.addObject('MeshOBJLoader', name="loader", filename="mesh/smCube125.obj")
collis.addObject('MeshTopology', src="@loader")
collis.addObject('MechanicalObject', src="@loader")
collis.addObject('TriangleCollisionModel', )
collis.addObject('BarycentricMapping', input="@..", output="@Collis")