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
HexahedronFEMForceFieldAndMass.scn
<?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.scn
<?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', )
HexahedronFEMForceField_beam10x10x40_cpu.scn
<?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
<?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_gpu.scn
<?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")
HexahedronFEMForceField_beam16x16x76_cpu.scn
<?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")