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StaticSolver

Static ODE Solver.

Target: Sofa.Component.ODESolver.Backward

namespace: sofa::component::odesolver::backward

parents:

  • OdeSolver
  • LinearSolverAccessor

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
newton_iterations Number of Netwon iterations between each load increments (normally, one load increment per simulation time-step. 1
absolute_correction_tolerance_threshold Convergence criterion of the norm |du| under which the Netwon iterations stop 1e-05
relative_correction_tolerance_threshold Convergence criterion regarding the ratio |du| / |U| under which the Netwon iterations stop 1e-05
absolute_residual_tolerance_threshold Convergence criterion of the norm |R| under which the Netwon iterations stop.Use a negative value to disable this criterion 1e-05
relative_residual_tolerance_threshold Convergence criterion regarding the ratio |R|/|R0| under which the Netwon iterations stop.Use a negative value to disable this criterion 1e-05
should_diverge_when_residual_is_growing Boolean stopping Netwon iterations when the residual is greater than the one from the previous iteration 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
linearSolver Linear solver used by this component LinearSolver

Examples

StaticSolver.scn

<Node name="root" gravity="-1.8 0 100"  dt="1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader 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 [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
    <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.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <DefaultAnimationLoop/>

    <VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
    <Node name="Reference">
        <MeshOBJLoader name="meshLoader_1" filename="mesh/truthcylinder1-bent.obj" scale="0.95" handleSeams="1" />
        <OglModel src="@meshLoader_1" dx="0" dy="-1" dz="0" color="green" />
    </Node>
    <Node name="Springs">

        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="15" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <MeshSpringForceField name="Spring" tetrasStiffness="1870" tetrasDamping="0" />
        <Node>
            <MeshOBJLoader name="meshLoader_0" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="yellow" dx="15" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="CoFEM">
        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh"/>
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="30" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <TetrahedronFEMForceField name="FEM" youngModulus="1116" poissonRatio="0.49" method="polar" />
        <Node>
            <MeshOBJLoader name="meshLoader_3" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="cyan" dx="30" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="LinearFEM">
        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh"/>
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="45" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <TetrahedronFEMForceField name="FEM" youngModulus="1116" poissonRatio="0.49" method="small" />
        <Node>
            <MeshOBJLoader name="meshLoader_2" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_2" color="red" dx="45" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="-1.8 0 100", dt="1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   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.FEM.Elastic")
   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.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields")

   reference = root.addChild('Reference')

   reference.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/truthcylinder1-bent.obj", scale="0.95", handleSeams="1")
   reference.addObject('OglModel', src="@meshLoader_1", dx="0", dy="-1", dz="0", color="green")

   springs = root.addChild('Springs')

   springs.addObject('StaticSolver', )
   springs.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
   springs.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
   springs.addObject('MeshTopology', src="@loader")
   springs.addObject('MechanicalObject', src="@loader", dx="15")
   springs.addObject('UniformMass', totalMass="15")
   springs.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
   springs.addObject('MeshSpringForceField', name="Spring", tetrasStiffness="1870", tetrasDamping="0")

   node = Springs.addChild('node')

   node.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/truthcylinder1.obj", handleSeams="1")
   node.addObject('OglModel', name="Visual", src="@meshLoader_0", color="yellow", dx="15")
   node.addObject('BarycentricMapping', input="@..", output="@Visual")

   co_fem = root.addChild('CoFEM')

   co_fem.addObject('StaticSolver', )
   co_fem.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
   co_fem.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
   co_fem.addObject('MeshTopology', src="@loader")
   co_fem.addObject('MechanicalObject', src="@loader", dx="30")
   co_fem.addObject('UniformMass', totalMass="15")
   co_fem.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
   co_fem.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1116", poissonRatio="0.49", method="polar")

   node = CoFEM.addChild('node')

   node.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/truthcylinder1.obj", handleSeams="1")
   node.addObject('OglModel', name="Visual", src="@meshLoader_3", color="cyan", dx="30")
   node.addObject('BarycentricMapping', input="@..", output="@Visual")

   linear_fem = root.addChild('LinearFEM')

   linear_fem.addObject('StaticSolver', )
   linear_fem.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
   linear_fem.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
   linear_fem.addObject('MeshTopology', src="@loader")
   linear_fem.addObject('MechanicalObject', src="@loader", dx="45")
   linear_fem.addObject('UniformMass', totalMass="15")
   linear_fem.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
   linear_fem.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1116", poissonRatio="0.49", method="small")

   node = LinearFEM.addChild('node')

   node.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/truthcylinder1.obj", handleSeams="1")
   node.addObject('OglModel', name="Visual", src="@meshLoader_2", color="red", dx="45")
   node.addObject('BarycentricMapping', input="@..", output="@Visual")