SphereForceField

Outward repulsion applied by a sphere geometry

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
contacts	Contacts
center	sphere center
radius	sphere radius	1
stiffness	force stiffness	500
damping	force damping	5
color	sphere color. (default=[0,0,1,1])	0 0 1 1
localRange	optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)	-1 -1
bilateral	if true the sphere force field is applied on both sides	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
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 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
contacts	Contacts
center	sphere center
radius	sphere radius	1
stiffness	force stiffness	500
damping	force damping	5
color	sphere color. (default=[0,0,1,1])	0 0 1 1
localRange	optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)	-1 -1
bilateral	if true the sphere force field is applied on both sides	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
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 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
contacts	Contacts
center	sphere center
radius	sphere radius	1
stiffness	force stiffness	500
damping	force damping	5
color	sphere color. (default=[0,0,1,1])	0 0 1 1
localRange	optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning)	-1 -1
bilateral	if true the sphere force field is applied on both sides	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
mechanicalStates	List of mechanical states to which this component is associated	BaseMechanicalState
mstate	MechanicalState used by this component	MechanicalState<Vec3d>

Examples

SphereForceField.scn

XMLPython

<!-- Mechanical SphereForceField Example -->
<Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
    <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.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField SphereForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <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="hideBehaviorModels showForceFields hideCollisionModels hideVisualModels" />

    <Node name="Floor">
        <RegularGridTopology nx="2" ny="1" nz="2" xmin="20" xmax="-20" ymin="-3.05" ymax="-3.05" zmin="-20" zmax="20" />
        <MechanicalObject />

        <Node name="Visu">
            <OglModel name="Visual" color="red" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>

    <Node name="SquareCloth1">
        <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" />
        <RegularGridTopology nx="20" ny="1" nz="20" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
        <MechanicalObject />
        <UniformMass totalMass="100" />
        <BoxConstraint box="-12 7 12 -10 7 12    10 7 12 12 7 12" />
        <MeshSpringForceField name="Springs" stiffness="1000" damping="0" />
        <QuadBendingSprings name="Bend" stiffness="2000" damping="1" />

        <!-- Two ForceFields mimicking collision : a sphere and plane model -->
        <SphereForceField stiffness="1000" damping="1" center="0 1 3" radius="4"  />
        <PlaneForceField stiffness="1000" damping="20" normal="0 1 0" d="-3" />

        <Node name="Visu">
            <OglModel name="Visual" color="green" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>

    <Node name="Sphere">
        <MeshOBJLoader name="meshLoader_0" filename="mesh/sphere.obj" scale="3.95" handleSeams="1" />
        <OglModel name="Visual" src="@meshLoader_0" dx="0" dy="1" dz="3" color="blue" />
    </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.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   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.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="hideBehaviorModels showForceFields hideCollisionModels hideVisualModels")

   floor = root.addChild('Floor')

   floor.addObject('RegularGridTopology', nx="2", ny="1", nz="2", xmin="20", xmax="-20", ymin="-3.05", ymax="-3.05", zmin="-20", zmax="20")
   floor.addObject('MechanicalObject', )

   visu = Floor.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="red")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   square_cloth1 = root.addChild('SquareCloth1')

   square_cloth1.addObject('EulerImplicitSolver', name="cg_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('RegularGridTopology', nx="20", ny="1", nz="20", xmin="12", xmax="-12", ymin="7", ymax="7", zmin="-12", zmax="12")
   square_cloth1.addObject('MechanicalObject', )
   square_cloth1.addObject('UniformMass', totalMass="100")
   square_cloth1.addObject('BoxConstraint', box="-12 7 12 -10 7 12    10 7 12 12 7 12")
   square_cloth1.addObject('MeshSpringForceField', name="Springs", stiffness="1000", damping="0")
   square_cloth1.addObject('QuadBendingSprings', name="Bend", stiffness="2000", damping="1")
   square_cloth1.addObject('SphereForceField', stiffness="1000", damping="1", center="0 1 3", radius="4")
   square_cloth1.addObject('PlaneForceField', stiffness="1000", damping="20", normal="0 1 0", d="-3")

   visu = SquareCloth1.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="green")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   sphere = root.addChild('Sphere')

   sphere.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/sphere.obj", scale="3.95", handleSeams="1")
   sphere.addObject('OglModel', name="Visual", src="@meshLoader_0", dx="0", dy="1", dz="3", color="blue")