BeamFEMForceField
Beam finite elements.
Rigid3d
Templates:
- Rigid3d
Target: Sofa.Component.SolidMechanics.FEM.Elastic
namespace: sofa::component::solidmechanics::fem::elastic::beamfemforcefield
parents:
- BaseLinearElasticityFEMForceField
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 |
| poissonRatio | FEM Poisson Ratio in Hooke's law [0,0.5[ | 0.45 |
| youngModulus | FEM Young's Modulus in Hooke's law | 5000 |
| beamsData | Internal element data | |
| radius | radius of the section | 0.1 |
| radiusInner | inner radius of the section for hollow beams | 0 |
| listSegment | apply the forcefield to a subset list of beam segments. If no segment defined, forcefield applies to the whole topology | |
| useSymmetricAssembly | use symmetric assembly of the matrix K | 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<Rigid3d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
BeamFEMForceField.scn
<?xml version="1.0"?>
<!-- BeamFEMForceField example -->
<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 SphereCollisionModel 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.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BeamLinearMapping IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [CubeTopology MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels hideForceFields showCollisionModels hideVisual showInteractionForceFields" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="beam-withPointCollision">
<EulerImplicitSolver rayleighStiffness="0" printLog="false" rayleighMass="0.1" />
<BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
<MechanicalObject template="Rigid3" name="DOFs" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 2 0 0 0 0 0 1 3 0 0 0 0 0 1 4 0 0 0 0 0 1 5 0 0 0 0 0 1 6 0 0 0 0 0 1 7 0 0 0 0 0 1" />
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="0" />
<UniformMass vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1" printLog="false" />
<BeamFEMForceField name="FEM" radius="0.1" radiusInner="0" youngModulus="20000000" poissonRatio="0.49"/>
<Node name="Collision">
<MechanicalObject />
<IdentityMapping />
<PointCollisionModel name="FloorPoint" />
</Node>
</Node>
<Node name="beam-withTriangulatedCubeCollision">
<EulerImplicitSolver rayleighStiffness="0" printLog="false" rayleighMass="0.1" />
<BTDLinearSolver template="BTDMatrix6d" printLog="false" verbose="false" />
<MechanicalObject template="Rigid3" name="DOFs" position="0 0 -1 0 0 0 1 1 0 -1 0 0 0 1 2 0 -1 0 0 0 1 3 0 -1 0 0 0 1 4 0 -1 0 0 0 1 5 0 -1 0 0 0 1 6 0 -1 0 0 0 1 7 0 -1 0 0 0 1" />
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="0" />
<UniformMass vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1" printLog="false" />
<BeamFEMForceField name="FEM" radius="0.1" radiusInner="0" youngModulus="20000000" poissonRatio="0.49"/>
<Node name="Collision">
<CubeTopology nx="15" ny="2" nz="2" min="0 -0.1 -0.1" max="7 0.1 0.1" />
<MechanicalObject />
<BeamLinearMapping isMechanical="true" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
</Node>
</Node>
<Node name="beam-withSphereCollision">
<EulerImplicitSolver rayleighStiffness="0" printLog="false" rayleighMass="0.1"/>
<CGLinearSolver threshold="0.000000001" tolerance="0.0000000001" iterations="25" printLog="false" />
<MechanicalObject template="Rigid3" name="DOFs" position="0 0 1 0 0 0 1 1 0 1 0 0 0 1 2 0 1 0 0 0 1 3 0 1 0 0 0 1" />
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="0" />
<UniformMass totalMass="4" />
<BeamFEMForceField name="FEM" radius="0.05" radiusInner="0" youngModulus="20000000" poissonRatio="0.49"/>
<Node name="Collision">
<MechanicalObject />
<SphereCollisionModel radius="0.4" />
<IdentityMapping />
</Node>
</Node>
<Node name="Floor">
<MeshOBJLoader name="loader" filename="mesh/floor3.obj" scale3d="0.5 0.5 0.5"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dy="-1"/>
<TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" contactStiffness="100" />
</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.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
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.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels hideForceFields showCollisionModels hideVisual showInteractionForceFields")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
beam_with_point_collision = root.addChild('beam-withPointCollision')
beam_with_point_collision.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
beam_with_point_collision.addObject('BTDLinearSolver', template="BTDMatrix6d", printLog="false", verbose="false")
beam_with_point_collision.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 2 0 0 0 0 0 1 3 0 0 0 0 0 1 4 0 0 0 0 0 1 5 0 0 0 0 0 1 6 0 0 0 0 0 1 7 0 0 0 0 0 1")
beam_with_point_collision.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7")
beam_with_point_collision.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="0")
beam_with_point_collision.addObject('UniformMass', vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1", printLog="false")
beam_with_point_collision.addObject('BeamFEMForceField', name="FEM", radius="0.1", radiusInner="0", youngModulus="20000000", poissonRatio="0.49")
collision = beam-withPointCollision.addChild('Collision')
collision.addObject('MechanicalObject', )
collision.addObject('IdentityMapping', )
collision.addObject('PointCollisionModel', name="FloorPoint")
beam_with_triangulated_cube_collision = root.addChild('beam-withTriangulatedCubeCollision')
beam_with_triangulated_cube_collision.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
beam_with_triangulated_cube_collision.addObject('BTDLinearSolver', template="BTDMatrix6d", printLog="false", verbose="false")
beam_with_triangulated_cube_collision.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 -1 0 0 0 1 1 0 -1 0 0 0 1 2 0 -1 0 0 0 1 3 0 -1 0 0 0 1 4 0 -1 0 0 0 1 5 0 -1 0 0 0 1 6 0 -1 0 0 0 1 7 0 -1 0 0 0 1")
beam_with_triangulated_cube_collision.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7")
beam_with_triangulated_cube_collision.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="0")
beam_with_triangulated_cube_collision.addObject('UniformMass', vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1", printLog="false")
beam_with_triangulated_cube_collision.addObject('BeamFEMForceField', name="FEM", radius="0.1", radiusInner="0", youngModulus="20000000", poissonRatio="0.49")
collision = beam-withTriangulatedCubeCollision.addChild('Collision')
collision.addObject('CubeTopology', nx="15", ny="2", nz="2", min="0 -0.1 -0.1", max="7 0.1 0.1")
collision.addObject('MechanicalObject', )
collision.addObject('BeamLinearMapping', isMechanical="true")
collision.addObject('TriangleCollisionModel', )
collision.addObject('LineCollisionModel', )
collision.addObject('PointCollisionModel', )
beam_with_sphere_collision = root.addChild('beam-withSphereCollision')
beam_with_sphere_collision.addObject('EulerImplicitSolver', rayleighStiffness="0", printLog="false", rayleighMass="0.1")
beam_with_sphere_collision.addObject('CGLinearSolver', threshold="0.000000001", tolerance="0.0000000001", iterations="25", printLog="false")
beam_with_sphere_collision.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 1 0 0 0 1 1 0 1 0 0 0 1 2 0 1 0 0 0 1 3 0 1 0 0 0 1")
beam_with_sphere_collision.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3")
beam_with_sphere_collision.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="0")
beam_with_sphere_collision.addObject('UniformMass', totalMass="4")
beam_with_sphere_collision.addObject('BeamFEMForceField', name="FEM", radius="0.05", radiusInner="0", youngModulus="20000000", poissonRatio="0.49")
collision = beam-withSphereCollision.addChild('Collision')
collision.addObject('MechanicalObject', )
collision.addObject('SphereCollisionModel', radius="0.4")
collision.addObject('IdentityMapping', )
floor = root.addChild('Floor')
floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor3.obj", scale3d="0.5 0.5 0.5")
floor.addObject('MeshTopology', src="@loader")
floor.addObject('MechanicalObject', src="@loader", dy="-1")
floor.addObject('TriangleCollisionModel', name="FloorTriangle", simulated="0", moving="0", contactStiffness="100")