HexahedronFEMForceField

Hexahedral finite elements.

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 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
poissonRatio	FEM Poisson Ratio in Hooke's law [0,0.5[	0.45
youngModulus	FEM Young's Modulus in Hooke's law	5000
method	"large" or "polar" or "small" displacements	large
updateStiffnessMatrix		0
gatherPt	number of dof accumulated per threads during the gather operation (Only use in GPU version)
gatherBsize	number of dof accumulated per threads during the gather operation (Only use in GPU version)
stiffnessMatrices	Stiffness matrices per element (K_i)
initialPoints	Initial Position
Visualization
drawing	draw the forcefield if true	1
drawPercentageOffset	size of the hexa	0.15

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>
topology	link to the topology container	BaseMeshTopology

Examples

HexahedronFEMForceField.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" dt="0.02">
    <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.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <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 [HexahedronFEMForceField] -->
    <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] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="M1">
        <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" template="CompressedRowSparseMatrixMat3x3"/>
        <MechanicalObject />
        <UniformMass vertexMass="1" />
        <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
        <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" method="large" />
        <TriangleCollisionModel />
        <LineCollisionModel />
        <PointCollisionModel />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02")

   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.LinearSolver.Iterative")
   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.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   m1 = root.addChild('M1')

   m1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   m1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9", template="CompressedRowSparseMatrixMat3x3")
   m1.addObject('MechanicalObject', )
   m1.addObject('UniformMass', vertexMass="1")
   m1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
   m1.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15")
   m1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
   m1.addObject('TriangleCollisionModel', )
   m1.addObject('LineCollisionModel', )
   m1.addObject('PointCollisionModel', )

HexahedronFEMForceFieldAndMass.scn

XMLPython

<?xml version="1.0"?>
<Node name="root" dt="0.02">
    <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.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceFieldAndMass] -->
    <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] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="M1">
        <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" />
        <MechanicalObject />
        <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
        <HexahedronFEMForceFieldAndMass name="FEM" youngModulus="40000" poissonRatio="0.3" method="large" density="1" />
        <TriangleCollisionModel />
        <LineCollisionModel />
        <PointCollisionModel />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02")

   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.LinearSolver.Iterative")
   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.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   m1 = root.addChild('M1')

   m1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   m1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   m1.addObject('MechanicalObject', )
   m1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
   m1.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15")
   m1.addObject('HexahedronFEMForceFieldAndMass', name="FEM", youngModulus="40000", poissonRatio="0.3", method="large", density="1")
   m1.addObject('TriangleCollisionModel', )
   m1.addObject('LineCollisionModel', )
   m1.addObject('PointCollisionModel', )

HexahedronFEMForceField_beam10x10x40_cpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 0" 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 [DiscreteIntersection] -->
    <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.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 [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetTopologyContainer HexahedronSetTopologyModifier QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />

    <DefaultAnimationLoop />
    <DefaultVisualManagerLoop />
    <CollisionPipeline name="CollisionPipeline" verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="collision response" response="PenalityContactForceField" />
    <DiscreteIntersection/>

    <Node name="HexahedronFEMForceField-CPU-red">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

        <RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
        <MechanicalObject name="Volume" template="Vec3"/>

        <HexahedronSetTopologyContainer name="Container" src="@grid"/>
        <HexahedronSetTopologyModifier name="Modifier" />

        <DiagonalMass totalMass="50.0" />
        <BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

        <FixedProjectiveConstraint indices="@ROI1.indices" />
        <HexahedronFEMForceField name="FEM" template="Vec3" youngModulus="2000" poissonRatio="0.3" method="large" />

        <Node name="surface">
            <QuadSetTopologyContainer name="Container" />
            <QuadSetTopologyModifier name="Modifier" />

            <Hexa2QuadTopologicalMapping input="@../Container" output="@Container" />
            <Node name="Visu">
                <OglModel name="Visual" color="red" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>  
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 0", 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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   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.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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('CollisionPipeline', name="CollisionPipeline", verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', name="collision response", response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )

   hexahedron_fem_force_field__cpu_red = root.addChild('HexahedronFEMForceField-CPU-red')

   hexahedron_fem_force_field__cpu_red.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   hexahedron_fem_force_field__cpu_red.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   hexahedron_fem_force_field__cpu_red.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
   hexahedron_fem_force_field__cpu_red.addObject('MechanicalObject', name="Volume", template="Vec3")
   hexahedron_fem_force_field__cpu_red.addObject('HexahedronSetTopologyContainer', name="Container", src="@grid")
   hexahedron_fem_force_field__cpu_red.addObject('HexahedronSetTopologyModifier', name="Modifier")
   hexahedron_fem_force_field__cpu_red.addObject('DiagonalMass', totalMass="50.0")
   hexahedron_fem_force_field__cpu_red.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
   hexahedron_fem_force_field__cpu_red.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
   hexahedron_fem_force_field__cpu_red.addObject('HexahedronFEMForceField', name="FEM", template="Vec3", youngModulus="2000", poissonRatio="0.3", method="large")

   surface = HexahedronFEMForceField-CPU-red.addChild('surface')

   surface.addObject('QuadSetTopologyContainer', name="Container")
   surface.addObject('QuadSetTopologyModifier', name="Modifier")
   surface.addObject('Hexa2QuadTopologicalMapping', input="@../Container", output="@Container")

   visu = surface.addChild('Visu')

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

HexahedronFEMForceField_beam10x10x40_gpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 0" 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 [DiscreteIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetTopologyContainer HexahedronSetTopologyModifier QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BoxROI DiagonalMass FixedProjectiveConstraint HexahedronFEMForceField IdentityMapping MechanicalObject] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />

    <DefaultAnimationLoop />
    <DefaultVisualManagerLoop />
    <CollisionPipeline name="CollisionPipeline" verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="collision response" response="PenalityContactForceField" />
    <DiscreteIntersection/>

    <Node name="HexahedronFEMForceField-GPU-Green">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="20" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

        <RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
        <MechanicalObject name="Volume" template="CudaVec3f"/>

        <HexahedronSetTopologyContainer name="Container" src="@grid"/>
        <HexahedronSetTopologyModifier name="Modifier" />

        <DiagonalMass totalMass="50.0" />
        <BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

        <FixedProjectiveConstraint indices="@ROI1.indices" />
        <HexahedronFEMForceField name="FEM" template="CudaVec3f" youngModulus="2000" poissonRatio="0.3" method="large" />

        <Node name="surface">
            <QuadSetTopologyContainer name="Container" />
            <QuadSetTopologyModifier name="Modifier" />

            <Hexa2QuadTopologicalMapping input="@../Container" output="@Container" />
            <Node name="Visu">
                <OglModel name="Visual" color="green" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 0", 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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('RequiredPlugin', name="SofaCUDA")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('CollisionPipeline', name="CollisionPipeline", verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', name="collision response", response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )

   hexahedron_fem_force_field__gpu__green = root.addChild('HexahedronFEMForceField-GPU-Green')

   hexahedron_fem_force_field__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   hexahedron_fem_force_field__gpu__green.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   hexahedron_fem_force_field__gpu__green.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
   hexahedron_fem_force_field__gpu__green.addObject('MechanicalObject', name="Volume", template="CudaVec3f")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronSetTopologyContainer', name="Container", src="@grid")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronSetTopologyModifier', name="Modifier")
   hexahedron_fem_force_field__gpu__green.addObject('DiagonalMass', totalMass="50.0")
   hexahedron_fem_force_field__gpu__green.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
   hexahedron_fem_force_field__gpu__green.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronFEMForceField', name="FEM", template="CudaVec3f", youngModulus="2000", poissonRatio="0.3", method="large")

   surface = HexahedronFEMForceField-GPU-Green.addChild('surface')

   surface.addObject('QuadSetTopologyContainer', name="Container")
   surface.addObject('QuadSetTopologyModifier', name="Modifier")
   surface.addObject('Hexa2QuadTopologicalMapping', input="@../Container", output="@Container")

   visu = surface.addChild('Visu')

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

HexahedronFEMForceField_beam16x16x76_cpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 0" dt="0.04">
    <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 [DiscreteIntersection] -->
    <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.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 [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetTopologyContainer HexahedronSetTopologyModifier QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />

    <DefaultAnimationLoop />
    <DefaultVisualManagerLoop />
    <CollisionPipeline name="CollisionPipeline" verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="collision response" response="PenalityContactForceField" />
    <DiscreteIntersection/>

    <Node name="HexahedronFEMForceField-CPU-Red">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="10" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

        <RegularGridTopology name="grid" n="76 16 16" min="0 6 -2" max="19 10 2" />
        <MechanicalObject name="Volume" template="Vec3"/>

        <HexahedronSetTopologyContainer name="Container" src="@grid"/>
        <HexahedronSetTopologyModifier name="Modifier" />

        <DiagonalMass totalMass="50.0" />
        <BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

        <FixedProjectiveConstraint indices="@ROI1.indices" />
        <HexahedronFEMForceField name="FEM" template="Vec3" youngModulus="1000" poissonRatio="0.3" method="large" />
        <PlaneForceField normal="0 1 0" d="2" stiffness="10000"  showPlane="1" />

        <Node name="surface">
            <QuadSetTopologyContainer name="Container" />
            <QuadSetTopologyModifier name="Modifier" />

            <Hexa2QuadTopologicalMapping input="@../Container" output="@Container" />
            <Node name="Visu">
                <OglModel name="Visual" color="red" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>


    <Node name="Floor">
        <RegularGridTopology
            nx="4" ny="1" nz="4"
            xmin="-10" xmax="30"
            ymin="1.9" ymax="1.9"
            zmin="-20" zmax="20" />
        <MechanicalObject />
        <Node name="Visu">
            <OglModel name="Visual" color="white"/>
            <IdentityMapping input="@.." output="@Visual"/>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 0", dt="0.04")

   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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   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.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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('CollisionPipeline', name="CollisionPipeline", verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', name="collision response", response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )

   hexahedron_fem_force_field__cpu__red = root.addChild('HexahedronFEMForceField-CPU-Red')

   hexahedron_fem_force_field__cpu__red.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   hexahedron_fem_force_field__cpu__red.addObject('CGLinearSolver', iterations="10", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   hexahedron_fem_force_field__cpu__red.addObject('RegularGridTopology', name="grid", n="76 16 16", min="0 6 -2", max="19 10 2")
   hexahedron_fem_force_field__cpu__red.addObject('MechanicalObject', name="Volume", template="Vec3")
   hexahedron_fem_force_field__cpu__red.addObject('HexahedronSetTopologyContainer', name="Container", src="@grid")
   hexahedron_fem_force_field__cpu__red.addObject('HexahedronSetTopologyModifier', name="Modifier")
   hexahedron_fem_force_field__cpu__red.addObject('DiagonalMass', totalMass="50.0")
   hexahedron_fem_force_field__cpu__red.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
   hexahedron_fem_force_field__cpu__red.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
   hexahedron_fem_force_field__cpu__red.addObject('HexahedronFEMForceField', name="FEM", template="Vec3", youngModulus="1000", poissonRatio="0.3", method="large")
   hexahedron_fem_force_field__cpu__red.addObject('PlaneForceField', normal="0 1 0", d="2", stiffness="10000", showPlane="1")

   surface = HexahedronFEMForceField-CPU-Red.addChild('surface')

   surface.addObject('QuadSetTopologyContainer', name="Container")
   surface.addObject('QuadSetTopologyModifier', name="Modifier")
   surface.addObject('Hexa2QuadTopologicalMapping', input="@../Container", output="@Container")

   visu = surface.addChild('Visu')

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

   floor = root.addChild('Floor')

   floor.addObject('RegularGridTopology', nx="4", ny="1", nz="4", xmin="-10", xmax="30", ymin="1.9", ymax="1.9", zmin="-20", zmax="20")
   floor.addObject('MechanicalObject', )

   visu = Floor.addChild('Visu')

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

HexahedronFEMForceField_beam16x16x76_gpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 0" dt="0.04">
    <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 [DiscreteIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetTopologyContainer HexahedronSetTopologyModifier QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BoxROI DiagonalMass FixedProjectiveConstraint HexahedronFEMForceField IdentityMapping MechanicalObject PlaneForceField] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />

    <DefaultAnimationLoop />
    <DefaultVisualManagerLoop />
    <CollisionPipeline name="CollisionPipeline" verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="collision response" response="PenalityContactForceField" />
    <DiscreteIntersection/>

    <Node name="HexahedronFEMForceField-GPU-Green">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="10" name="linear solver" tolerance="1.0e-6" threshold="1.0e-6" />

        <RegularGridTopology name="grid" n="76 16 16" min="0 6 -2" max="19 10 2" />
        <MechanicalObject name="Volume" template="CudaVec3f"/>

        <HexahedronSetTopologyContainer name="Container" src="@grid"/>
        <HexahedronSetTopologyModifier name="Modifier" />

        <DiagonalMass totalMass="50.0" />
        <BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />

        <FixedProjectiveConstraint indices="@ROI1.indices" />
        <HexahedronFEMForceField name="FEM" template="CudaVec3f" youngModulus="1000" poissonRatio="0.3" method="large" />
        <PlaneForceField normal="0 1 0" d="2" stiffness="10000"  showPlane="1" />

        <Node name="surface">
            <QuadSetTopologyContainer name="Container" />
            <QuadSetTopologyModifier name="Modifier" />

            <Hexa2QuadTopologicalMapping input="@../Container" output="@Container" />
            <Node name="Visu">
                <OglModel name="Visual" color="green" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>


    <Node name="Floor">
        <RegularGridTopology
            nx="4" ny="1" nz="4"
            xmin="-10" xmax="30"
            ymin="1.9" ymax="1.9"
            zmin="-20" zmax="20" />
        <MechanicalObject />
        <Node name="Visu">
            <OglModel name="Visual" color="white"/>
            <IdentityMapping input="@.." output="@Visual"/>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 0", dt="0.04")

   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.Response.Contact")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('RequiredPlugin', name="SofaCUDA")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('CollisionPipeline', name="CollisionPipeline", verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', name="collision response", response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )

   hexahedron_fem_force_field__gpu__green = root.addChild('HexahedronFEMForceField-GPU-Green')

   hexahedron_fem_force_field__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   hexahedron_fem_force_field__gpu__green.addObject('CGLinearSolver', iterations="10", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   hexahedron_fem_force_field__gpu__green.addObject('RegularGridTopology', name="grid", n="76 16 16", min="0 6 -2", max="19 10 2")
   hexahedron_fem_force_field__gpu__green.addObject('MechanicalObject', name="Volume", template="CudaVec3f")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronSetTopologyContainer', name="Container", src="@grid")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronSetTopologyModifier', name="Modifier")
   hexahedron_fem_force_field__gpu__green.addObject('DiagonalMass', totalMass="50.0")
   hexahedron_fem_force_field__gpu__green.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
   hexahedron_fem_force_field__gpu__green.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
   hexahedron_fem_force_field__gpu__green.addObject('HexahedronFEMForceField', name="FEM", template="CudaVec3f", youngModulus="1000", poissonRatio="0.3", method="large")
   hexahedron_fem_force_field__gpu__green.addObject('PlaneForceField', normal="0 1 0", d="2", stiffness="10000", showPlane="1")

   surface = HexahedronFEMForceField-GPU-Green.addChild('surface')

   surface.addObject('QuadSetTopologyContainer', name="Container")
   surface.addObject('QuadSetTopologyModifier', name="Modifier")
   surface.addObject('Hexa2QuadTopologicalMapping', input="@../Container", output="@Container")

   visu = surface.addChild('Visu')

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

   floor = root.addChild('Floor')

   floor.addObject('RegularGridTopology', nx="4", ny="1", nz="4", xmin="-10", xmax="30", ymin="1.9", ymax="1.9", zmin="-20", zmax="20")
   floor.addObject('MechanicalObject', )

   visu = Floor.addChild('Visu')

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