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FastTetrahedralCorotationalForceField

Fast Corotational Tetrahedral Mesh.

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.SolidMechanics.FEM.Elastic

namespace: sofa::component::solidmechanics::fem::elastic

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
pointInfo Internal point data
edgeInfo Internal edge data
tetrahedronInfo Internal tetrahedron data
method method for rotation computation :"qr" (by QR) or "polar" or "polar2" or "none" (Linear elastic) qr
Visualization
drawing draw the forcefield if true 1
drawColor1 draw color for faces 1 0 0 1 1
drawColor2 draw color for faces 2 0 0.5 1 1
drawColor3 draw color for faces 3 0 1 1 1
drawColor4 draw color for faces 4 0.5 1 1 1
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

FastTetrahedralCorotationalForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 0">
    <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.LinearSolver.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

    <DefaultAnimationLoop parallelODESolving="true"/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />

    <Node name="BeamFEM_SMALL">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" />

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="small"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>


    <Node name="BeamFEM_LARGE">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="11 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="large"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

    <Node name="BeamFEM_POLAR">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="22 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo" />
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="polar"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

    <Node name="BeamFEM_polar2">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="33 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="polar2"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", gravity="0 -9 0")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('DefaultAnimationLoop', parallelODESolving="true")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")

   beam_fem__small = root.addChild('BeamFEM_SMALL')

   beam_fem__small.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   beam_fem__small.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
   beam_fem__small.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
   beam_fem__small.addObject('MechanicalObject', template="Vec3")
   beam_fem__small.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
   beam_fem__small.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   beam_fem__small.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   beam_fem__small.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
   beam_fem__small.addObject('DiagonalMass', massDensity="0.2")
   beam_fem__small.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="small")
   beam_fem__small.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
   beam_fem__small.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

   beam_fem__large = root.addChild('BeamFEM_LARGE')

   beam_fem__large.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   beam_fem__large.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
   beam_fem__large.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
   beam_fem__large.addObject('MechanicalObject', template="Vec3", translation="11 0 0")
   beam_fem__large.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
   beam_fem__large.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   beam_fem__large.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   beam_fem__large.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
   beam_fem__large.addObject('DiagonalMass', massDensity="0.2")
   beam_fem__large.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="large")
   beam_fem__large.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
   beam_fem__large.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

   beam_fem__polar = root.addChild('BeamFEM_POLAR')

   beam_fem__polar.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   beam_fem__polar.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
   beam_fem__polar.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
   beam_fem__polar.addObject('MechanicalObject', template="Vec3", translation="22 0 0")
   beam_fem__polar.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
   beam_fem__polar.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   beam_fem__polar.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   beam_fem__polar.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
   beam_fem__polar.addObject('DiagonalMass', massDensity="0.2")
   beam_fem__polar.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="polar")
   beam_fem__polar.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
   beam_fem__polar.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

   beam_fem_polar2 = root.addChild('BeamFEM_polar2')

   beam_fem_polar2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   beam_fem_polar2.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
   beam_fem_polar2.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
   beam_fem_polar2.addObject('MechanicalObject', template="Vec3", translation="33 0 0")
   beam_fem_polar2.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
   beam_fem_polar2.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   beam_fem_polar2.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   beam_fem_polar2.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
   beam_fem_polar2.addObject('DiagonalMass', massDensity="0.2")
   beam_fem_polar2.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="polar2")
   beam_fem_polar2.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
   beam_fem_polar2.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")