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SurfacePressureForceField

Pressure applied on a generic surface (triangular or quadrangular).

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
pressure Pressure force per unit area 0
min Lower bound of the selection box 0 0 0 0 0 0 1
max Upper bound of the selection box 0 0 0 0 0 0 1
triangleIndices Indices of affected triangles
quadIndices Indices of affected quads
pulseMode Cyclic pressure application 0
pressureLowerBound Pressure lower bound force per unit area (active in pulse mode) 0
pressureSpeed Continuous pressure application in Pascal per second. Only active in pulse mode 0
volumeConservationMode Pressure variation follow the inverse of the volume variation 0
useTangentStiffness Whether (non-symmetric) stiffness matrix should be used 1
defaultVolume Default Volume -1
mainDirection Main direction for pressure application 0 0 0 0 0 0
Visualization
drawForceScale DEBUG: scale used to render force vectors 0
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

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
pressure Pressure force per unit area 0
min Lower bound of the selection box 0 0 0
max Upper bound of the selection box 0 0 0
triangleIndices Indices of affected triangles
quadIndices Indices of affected quads
pulseMode Cyclic pressure application 0
pressureLowerBound Pressure lower bound force per unit area (active in pulse mode) 0
pressureSpeed Continuous pressure application in Pascal per second. Only active in pulse mode 0
volumeConservationMode Pressure variation follow the inverse of the volume variation 0
useTangentStiffness Whether (non-symmetric) stiffness matrix should be used 1
defaultVolume Default Volume -1
mainDirection Main direction for pressure application 0 0 0
Visualization
drawForceScale DEBUG: scale used to render force vectors 0
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

Examples

SurfacePressureForceField.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 [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.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 [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [SurfacePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
    <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 [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" usePointPoint="1" alarmDistance="3.5" contactDistance="1.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="Frog">
        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <SparseGridTopology n="10 5 10" fileTopology="mesh/frog.obj" />
        <MechanicalObject dx="-10.0" />
        <UniformMass vertexMass="1.0" />
        <BoxConstraint box="-18.0 2.0 -5.0 -2.0 3.0 5.0" />
        <MeshSpringForceField name="Springs" stiffness="50000" damping="4" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/frog.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="0.5 1.0 0.5 1.0" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
        <Node name="TriangleSurf">
            <MeshOBJLoader name="loader" filename="mesh/frog.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel group="1" />
            <LineCollisionModel group="1" />
            <PointCollisionModel group="1" />
            <SurfacePressureForceField pressure="50000.0" pulseMode="true" pressureSpeed="20000.0" />
            <BarycentricMapping input="@.." output="@." />
        </Node>
    </Node>
    <Node name="Frog2">
        <EulerImplicitSolver />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <SparseGridTopology n="10 5 10" fileTopology="mesh/frog_quads.obj" />
        <MechanicalObject dx="10.0" />
        <UniformMass vertexMass="1.0" />
        <BoxConstraint box="2.0 2.0 -5.0 18.0 3.0 5.0" />
        <MeshSpringForceField name="Springs" stiffness="50000" damping="4" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_1" filename="mesh/frog_quads.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_1" color="1.0 0.5 0.5 1.0" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
        <Node name="QuadSurf">
            <MeshOBJLoader name="loader" filename="mesh/frog_quads.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel group="1" />
            <LineCollisionModel group="1" />
            <PointCollisionModel group="1" />
            <SurfacePressureForceField pressure="50000.0" pulseMode="true" pressureSpeed="20000.0" />
            <BarycentricMapping input="@.." output="@." />
        </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.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.Constant")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", usePointPoint="1", alarmDistance="3.5", contactDistance="1.5")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   frog = root.addChild('Frog')

   frog.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
   frog.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   frog.addObject('SparseGridTopology', n="10 5 10", fileTopology="mesh/frog.obj")
   frog.addObject('MechanicalObject', dx="-10.0")
   frog.addObject('UniformMass', vertexMass="1.0")
   frog.addObject('BoxConstraint', box="-18.0 2.0 -5.0 -2.0 3.0 5.0")
   frog.addObject('MeshSpringForceField', name="Springs", stiffness="50000", damping="4")

   visu = Frog.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/frog.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="0.5 1.0 0.5 1.0")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   triangle_surf = Frog.addChild('TriangleSurf')

   triangle_surf.addObject('MeshOBJLoader', name="loader", filename="mesh/frog.obj")
   triangle_surf.addObject('MeshTopology', src="@loader")
   triangle_surf.addObject('MechanicalObject', src="@loader")
   triangle_surf.addObject('TriangleCollisionModel', group="1")
   triangle_surf.addObject('LineCollisionModel', group="1")
   triangle_surf.addObject('PointCollisionModel', group="1")
   triangle_surf.addObject('SurfacePressureForceField', pressure="50000.0", pulseMode="true", pressureSpeed="20000.0")
   triangle_surf.addObject('BarycentricMapping', input="@..", output="@.")

   frog2 = root.addChild('Frog2')

   frog2.addObject('EulerImplicitSolver', )
   frog2.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   frog2.addObject('SparseGridTopology', n="10 5 10", fileTopology="mesh/frog_quads.obj")
   frog2.addObject('MechanicalObject', dx="10.0")
   frog2.addObject('UniformMass', vertexMass="1.0")
   frog2.addObject('BoxConstraint', box="2.0 2.0 -5.0 18.0 3.0 5.0")
   frog2.addObject('MeshSpringForceField', name="Springs", stiffness="50000", damping="4")

   visu = Frog2.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/frog_quads.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="1.0 0.5 0.5 1.0")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   quad_surf = Frog2.addChild('QuadSurf')

   quad_surf.addObject('MeshOBJLoader', name="loader", filename="mesh/frog_quads.obj")
   quad_surf.addObject('MeshTopology', src="@loader")
   quad_surf.addObject('MechanicalObject', src="@loader")
   quad_surf.addObject('TriangleCollisionModel', group="1")
   quad_surf.addObject('LineCollisionModel', group="1")
   quad_surf.addObject('PointCollisionModel', group="1")
   quad_surf.addObject('SurfacePressureForceField', pressure="50000.0", pulseMode="true", pressureSpeed="20000.0")
   quad_surf.addObject('BarycentricMapping', input="@..", output="@.")