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LinearSmallStrainFEMForceField

Hooke's law assuming small strain

Templates:

  • Vec1d,Edge
  • Vec1d,QuadraticEdge

Target: Sofa.Component.SolidMechanics.FEM.Elastic

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

parents:

  • BaseElementLinearFEMForceField
  • FEMForceField
  • CauchyStressEvaluator

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
nbThreads If not yet initialized, the main task scheduler is initialized with this number of threads. 0 corresponds to the number of available cores on the CPU. -n (minus) corresponds to the number of available cores on the CPU minus the provided number. 0
taskSchedulerType Type of task scheduler to use. _default
poissonRatio FEM Poisson Ratio in Hooke's law [0,0.5[ 0.45
youngModulus FEM Young's Modulus in Hooke's law 5000
elementStiffness List of stiffness matrices per element
Multithreading
computeForceStrategy The compute strategy used to compute the forces. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
computeForceDerivStrategy The compute strategy used to compute the forces derivatives. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
Visualization
elementSpace When rendering, the space between elements 0.125
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 BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec1d>
topology Link to a topology BaseMeshTopology

Vec2d,Edge...

Templates:

  • Vec2d,Edge
  • Vec2d,Quad
  • Vec2d,QuadraticEdge
  • Vec2d,QuadraticQuad
  • Vec2d,QuadraticTriangle
  • Vec2d,Triangle

Target: Sofa.Component.SolidMechanics.FEM.Elastic

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

parents:

  • BaseElementLinearFEMForceField
  • FEMForceField
  • CauchyStressEvaluator

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
nbThreads If not yet initialized, the main task scheduler is initialized with this number of threads. 0 corresponds to the number of available cores on the CPU. -n (minus) corresponds to the number of available cores on the CPU minus the provided number. 0
taskSchedulerType Type of task scheduler to use. _default
poissonRatio FEM Poisson Ratio in Hooke's law [0,0.5[ 0.45
youngModulus FEM Young's Modulus in Hooke's law 5000
elementStiffness List of stiffness matrices per element
Multithreading
computeForceStrategy The compute strategy used to compute the forces. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
computeForceDerivStrategy The compute strategy used to compute the forces derivatives. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
Visualization
elementSpace When rendering, the space between elements 0.125
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 BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec2d>
topology Link to a topology BaseMeshTopology

Vec3d,Edge...

Templates:

  • Vec3d,Edge
  • Vec3d,Hexahedron
  • Vec3d,Prism
  • Vec3d,Pyramid
  • Vec3d,Quad
  • Vec3d,QuadraticEdge
  • Vec3d,QuadraticHexahedron
  • Vec3d,QuadraticQuad
  • Vec3d,QuadraticTetrahedron
  • Vec3d,QuadraticTriangle
  • Vec3d,Tetrahedron
  • Vec3d,Triangle

Target: Sofa.Component.SolidMechanics.FEM.Elastic

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

parents:

  • BaseElementLinearFEMForceField
  • FEMForceField
  • CauchyStressEvaluator

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
nbThreads If not yet initialized, the main task scheduler is initialized with this number of threads. 0 corresponds to the number of available cores on the CPU. -n (minus) corresponds to the number of available cores on the CPU minus the provided number. 0
taskSchedulerType Type of task scheduler to use. _default
poissonRatio FEM Poisson Ratio in Hooke's law [0,0.5[ 0.45
youngModulus FEM Young's Modulus in Hooke's law 5000
elementStiffness List of stiffness matrices per element
Multithreading
computeForceStrategy The compute strategy used to compute the forces. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
computeForceDerivStrategy The compute strategy used to compute the forces derivatives. - parallel: The algorithm is executed in parallel - sequenced: The algorithm is executed sequentially
Visualization
elementSpace When rendering, the space between elements 0.125
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 BaseComponent
master nullptr for regular objects, or master object for which this object is one sub-objects BaseComponent
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec3d>
topology Link to a topology BaseMeshTopology

Examples

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
        <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/tetrahedra/engine.position"
                          quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/tetrahedra/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticTetrahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticTetrahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrix", name="A", checkIndices="false")
   simulation.addObject('SparseLDLSolver', name="linear_solver", template="CompressedRowSparseMatrix")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/tetrahedra/engine.position", quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/tetrahedra/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticTetrahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticTetrahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="parallel", computeForceDerivStrategy="parallel")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/tetrahedra/engine.position"
                          quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/tetrahedra/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticTetrahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticTetrahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/tetrahedra/engine.position", quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/tetrahedra/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticTetrahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticTetrahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="parallel", computeForceDerivStrategy="parallel")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
        <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/tetrahedra/engine.position"
                          quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/tetrahedra/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticTetrahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticTetrahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrix", name="A", checkIndices="false")
   simulation.addObject('SparseLDLSolver', name="linear_solver", template="CompressedRowSparseMatrix")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/tetrahedra/engine.position", quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/tetrahedra/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticTetrahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticTetrahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="parallel", computeForceDerivStrategy="parallel")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/tetrahedra/engine.position"
                          quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/tetrahedra/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticTetrahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticTetrahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/tetrahedra/engine.position", quadratic_tetrahedra="@../../preprocessing/tetrahedra/engine.quadratic_tetrahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/tetrahedra/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticTetrahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticTetrahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="sequenced", computeForceDerivStrategy="sequenced")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
        <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/engine.position"
                          quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticHexahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticHexahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrix", name="A", checkIndices="false")
   simulation.addObject('SparseLDLSolver', name="linear_solver", template="CompressedRowSparseMatrix")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/engine.position", quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticHexahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticHexahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="parallel", computeForceDerivStrategy="parallel")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/engine.position"
                          quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticHexahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticHexahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="parallel" computeForceDerivStrategy="parallel"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/engine.position", quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticHexahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticHexahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="parallel", computeForceDerivStrategy="parallel")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <ConstantSparsityPatternSystem template="CompressedRowSparseMatrix" name="A" checkIndices="false"/>
        <SparseLDLSolver name="linear_solver" template="CompressedRowSparseMatrix"/>

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/engine.position"
                          quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticHexahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticHexahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('ConstantSparsityPatternSystem', template="CompressedRowSparseMatrix", name="A", checkIndices="false")
   simulation.addObject('SparseLDLSolver', name="linear_solver", template="CompressedRowSparseMatrix")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/engine.position", quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticHexahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticHexahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="sequenced", computeForceDerivStrategy="sequenced")

LinearSmallStrainFEMForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.001" gravity="0 -9.81 0">

    <include href="../../../plugins.xml"/>

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

    <VisualGrid size="0.1"/>
    <LineAxis size="0.1"/>

    <include href="../../../QuadraticTopology.xml"/>

    <Node name="simulation">
        <EulerImplicitSolver name="backward_Euler" rayleighStiffness="0.1" rayleighMass="0.1" />

        <CGLinearSolver iterations="250" name="linear_solver" tolerance="1.0e-12" threshold="1.0e-12" />

        <Node name="beam">
            <MeshTopology name="topology"
                          position="@../../preprocessing/engine.position"
                          quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra"/>
            <MechanicalObject template="Vec3" name="state" position="@../../preprocessing/engine.position"/>

            <VisualPointCloud position="@state.position" drawMode="Sphere" sphereRadius="0.0005" color="orange"/>
            <VisualMesh position="@state.position" topology="@topology"/>

            <NodalMassDensity property="1100"/>
            <FEMMass template="Vec3,QuadraticHexahedron"/>

            <BoxROI template="Vec3" name="box_roi" box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001" drawBoxes="1" />
            <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />

            <LinearSmallStrainFEMForceField name="FEM" template="Vec3,QuadraticHexahedron"
                                            youngModulus="2e6" poissonRatio="0.45" topology="@topology"
                                            computeForceStrategy="sequenced" computeForceDerivStrategy="sequenced"/>
        </Node>
    </Node>

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.001", gravity="0 -9.81 0")

   root.addObject('include', href="../../../plugins.xml")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
   root.addObject('VisualGrid', size="0.1")
   root.addObject('LineAxis', size="0.1")
   root.addObject('include', href="../../../QuadraticTopology.xml")

   simulation = root.addChild('simulation')

   simulation.addObject('EulerImplicitSolver', name="backward_Euler", rayleighStiffness="0.1", rayleighMass="0.1")
   simulation.addObject('CGLinearSolver', iterations="250", name="linear_solver", tolerance="1.0e-12", threshold="1.0e-12")

   beam = simulation.addChild('beam')

   beam.addObject('MeshTopology', name="topology", position="@../../preprocessing/engine.position", quadratic_hexahedra="@../../preprocessing/engine.quadratic_hexahedra")
   beam.addObject('MechanicalObject', template="Vec3", name="state", position="@../../preprocessing/engine.position")
   beam.addObject('VisualPointCloud', position="@state.position", drawMode="Sphere", sphereRadius="0.0005", color="orange")
   beam.addObject('VisualMesh', position="@state.position", topology="@topology")
   beam.addObject('NodalMassDensity', property="1100")
   beam.addObject('FEMMass', template="Vec3,QuadraticHexahedron")
   beam.addObject('BoxROI', template="Vec3", name="box_roi", box="-0.011 -0.011 -0.0001   0.011 0.011 0.0001", drawBoxes="1")
   beam.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
   beam.addObject('LinearSmallStrainFEMForceField', name="FEM", template="Vec3,QuadraticHexahedron", youngModulus="2e6", poissonRatio="0.45", topology="@topology", computeForceStrategy="sequenced", computeForceDerivStrategy="sequenced")