TetrahedronFEMForceField
Tetrahedral finite elements.
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.SolidMechanics.FEM.Elastic
namespace: sofa::component::solidmechanics::fem::elastic
parents:
- BaseLinearElasticityFEMForceField
- BaseObject
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 |
| initialPoints | Initial Position | |
| method | "small", "large" (by QR), "polar" or "svd" displacements | large |
| localStiffnessFactor | Allow specification of different stiffness per element. If there are N element and M values are specified, the youngModulus factor for element i would be localStiffnessFactor[i*M/N] | |
| updateStiffnessMatrix | 0 | |
| computeGlobalMatrix | 0 | |
| plasticMaxThreshold | Plastic Max Threshold (2-norm of the strain) | 0 |
| plasticYieldThreshold | Plastic Yield Threshold (2-norm of the strain) | 0.0001 |
| plasticCreep | Plastic Creep Factor * dt [0,1]. Warning this factor depends on dt. | 0.9 |
| 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) | |
| computeVonMisesStress | compute and display von Mises stress: 0: no computations, 1: using corotational strain, 2: using full Green strain. Set listening=1 | 0 |
| vonMisesPerElement | von Mises Stress per element | |
| vonMisesPerNode | von Mises Stress per node | |
| vonMisesStressColors | Vector of colors describing the VonMises stress | |
| updateStiffness | udpate structures (precomputed in init) using stiffness parameters in each iteration (set listening=1) | 0 |
| Visualization | ||
| drawHeterogeneousTetra | Draw Heterogeneous Tetra in different color | 0 |
| showStressColorMap | Color map used to show stress values | Blue to Red |
| showStressAlpha | Alpha for vonMises visualisation | 1 |
| showVonMisesStressPerNode | draw points showing vonMises stress interpolated in nodes | 0 |
| showVonMisesStressPerNodeColorMap | draw elements showing vonMises stress interpolated in nodes | 0 |
| showVonMisesStressPerElement | draw triangles showing vonMises stress interpolated in elements | 0 |
| showElementGapScale | draw gap between elements (when showWireFrame is disabled) [0,1]: 0: no gap, 1: no element | 0.333 |
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
TetrahedronFEMForceField.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 0">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<Node name="BeamFEM_SMALL">
<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"/>
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" />
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false"
method="small" computeVonMisesStress="2" showVonMisesStressPerNodeColorMap="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
<Node name="BeamFEM_LARGE">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" translation="11 0 0"/>
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false"
method="large" computeVonMisesStress="1" showVonMisesStressPerNodeColorMap="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
<Node name="BeamFEM_POLAR">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" translation="22 0 0"/>
<TetrahedronSetTopologyContainer name="Tetra_topo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false"
method="polar" computeVonMisesStress="1" showVonMisesStressPerNodeColorMap="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
<Node name="BeamFEM_SVD">
<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" />
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" translation="33 0 0"/>
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false"
method="svd" computeVonMisesStress="1" showVonMisesStressPerNodeColorMap="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", gravity="0 -9 0")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.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.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
beam_fem__small = root.addChild('BeamFEM_SMALL')
beam_fem__small.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__small.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__small.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__small.addObject('MechanicalObject', template="Vec3")
beam_fem__small.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__small.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__small.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__small.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__small.addObject('DiagonalMass', massDensity="0.2")
beam_fem__small.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="small", computeVonMisesStress="2", showVonMisesStressPerNodeColorMap="true")
beam_fem__small.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__small.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
beam_fem__large = root.addChild('BeamFEM_LARGE')
beam_fem__large.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__large.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__large.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__large.addObject('MechanicalObject', template="Vec3", translation="11 0 0")
beam_fem__large.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__large.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__large.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__large.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__large.addObject('DiagonalMass', massDensity="0.2")
beam_fem__large.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large", computeVonMisesStress="1", showVonMisesStressPerNodeColorMap="true")
beam_fem__large.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__large.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
beam_fem__polar = root.addChild('BeamFEM_POLAR')
beam_fem__polar.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__polar.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__polar.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__polar.addObject('MechanicalObject', template="Vec3", translation="22 0 0")
beam_fem__polar.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__polar.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__polar.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__polar.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__polar.addObject('DiagonalMass', massDensity="0.2")
beam_fem__polar.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="polar", computeVonMisesStress="1", showVonMisesStressPerNodeColorMap="true")
beam_fem__polar.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__polar.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
beam_fem__svd = root.addChild('BeamFEM_SVD')
beam_fem__svd.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__svd.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__svd.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__svd.addObject('MechanicalObject', template="Vec3", translation="33 0 0")
beam_fem__svd.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__svd.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__svd.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__svd.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__svd.addObject('DiagonalMass', massDensity="0.2")
beam_fem__svd.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="svd", computeVonMisesStress="1", showVonMisesStressPerNodeColorMap="true")
beam_fem__svd.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__svd.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
TetrahedronFEMForceField_Chain.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase name="N2" />
<BVHNarrowPhase />
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<DefaultAnimationLoop/>
<Node name="ChainFEM">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="gray" />
</Node>
<Node name="TorusFEM_LARGE">
<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" />
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="large" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="red" dx="2.5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM_POLAR">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="blue" dx="5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM_SVD">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="svd" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="yellow" dx="7.5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', name="N2")
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
root.addObject('DefaultAnimationLoop', )
chain_fem = root.addChild('ChainFEM')
torus_fixed = ChainFEM.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_3", color="gray")
torus_fem__large = ChainFEM.addChild('TorusFEM_LARGE')
torus_fem__large.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
torus_fem__large.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__large.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem__large.addObject('MeshTopology', src="@loader")
torus_fem__large.addObject('MechanicalObject', src="@loader", dx="2.5")
torus_fem__large.addObject('UniformMass', totalMass="5")
torus_fem__large.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large")
visu = TorusFEM_LARGE.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="red", dx="2.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_LARGE.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem__polar = ChainFEM.addChild('TorusFEM_POLAR')
torus_fem__polar.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__polar.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__polar.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_fem__polar.addObject('MeshTopology', src="@loader")
torus_fem__polar.addObject('MechanicalObject', src="@loader", dx="5")
torus_fem__polar.addObject('UniformMass', totalMass="5")
torus_fem__polar.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="polar")
visu = TorusFEM_POLAR.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="blue", dx="5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_POLAR.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem__svd = ChainFEM.addChild('TorusFEM_SVD')
torus_fem__svd.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__svd.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__svd.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem__svd.addObject('MeshTopology', src="@loader")
torus_fem__svd.addObject('MechanicalObject', src="@loader", dx="7.5")
torus_fem__svd.addObject('UniformMass', totalMass="5")
torus_fem__svd.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="svd")
visu = TorusFEM_SVD.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="yellow", dx="7.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_SVD.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="7.5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
TetrahedronFEMForceField_plasticity.scn
<Node name="root" dt="0.01">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<DefaultAnimationLoop/>
<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" />
<Node name="Plastic1">
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" rotation="90 0 0" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="large" plasticYieldThreshold="0.01" plasticMaxThreshold="0.025" plasticCreep="1"/>
<PlaneForceField normal="0 1 0" d="-3" stiffness="100000" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus.obj" rotation="90 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="red"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" rotation="90 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="Plastic2">
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" rotation="90 0 0" translation="-6 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="large" plasticYieldThreshold="0.005" plasticMaxThreshold="0.5" plasticCreep="1"/>
<PlaneForceField normal="0 1 0" d="-3" stiffness="100000" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" rotation="90 0 0" translation="-6 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="blue"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" rotation="90 0 0" translation="-6 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="Plastic3">
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" rotation="90 0 0" translation="-12 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="large" plasticYieldThreshold="0.005" plasticMaxThreshold="0.5" plasticCreep=".1"/>
<PlaneForceField normal="0 1 0" d="-3" stiffness="100000" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" rotation="90 0 0" translation="-12 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="yellow"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" rotation="90 0 0" translation="-12 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="Elastic">
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" rotation="90 0 0" translation="6 0 0" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="large" />
<PlaneForceField normal="0 1 0" d="-3" stiffness="100000" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" rotation="90 0 0" translation="6 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="green"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" rotation="90 0 0" translation="6 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
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.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
root.addObject('DefaultAnimationLoop', )
root.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
plastic1 = root.addChild('Plastic1')
plastic1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", rotation="90 0 0")
plastic1.addObject('MeshTopology', src="@loader")
plastic1.addObject('MechanicalObject', src="@loader")
plastic1.addObject('UniformMass', totalMass="5")
plastic1.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large", plasticYieldThreshold="0.01", plasticMaxThreshold="0.025", plasticCreep="1")
plastic1.addObject('PlaneForceField', normal="0 1 0", d="-3", stiffness="100000")
visu = Plastic1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus.obj", rotation="90 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="red")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = Plastic1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", rotation="90 0 0")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
plastic2 = root.addChild('Plastic2')
plastic2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", rotation="90 0 0", translation="-6 0 0")
plastic2.addObject('MeshTopology', src="@loader")
plastic2.addObject('MechanicalObject', src="@loader")
plastic2.addObject('UniformMass', totalMass="5")
plastic2.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large", plasticYieldThreshold="0.005", plasticMaxThreshold="0.5", plasticCreep="1")
plastic2.addObject('PlaneForceField', normal="0 1 0", d="-3", stiffness="100000")
visu = Plastic2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", rotation="90 0 0", translation="-6 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="blue")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = Plastic2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", rotation="90 0 0", translation="-6 0 0")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
plastic3 = root.addChild('Plastic3')
plastic3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", rotation="90 0 0", translation="-12 0 0")
plastic3.addObject('MeshTopology', src="@loader")
plastic3.addObject('MechanicalObject', src="@loader")
plastic3.addObject('UniformMass', totalMass="5")
plastic3.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large", plasticYieldThreshold="0.005", plasticMaxThreshold="0.5", plasticCreep=".1")
plastic3.addObject('PlaneForceField', normal="0 1 0", d="-3", stiffness="100000")
visu = Plastic3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", rotation="90 0 0", translation="-12 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = Plastic3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", rotation="90 0 0", translation="-12 0 0")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
elastic = root.addChild('Elastic')
elastic.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", rotation="90 0 0", translation="6 0 0")
elastic.addObject('MeshTopology', src="@loader")
elastic.addObject('MechanicalObject', src="@loader")
elastic.addObject('UniformMass', totalMass="5")
elastic.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="large")
elastic.addObject('PlaneForceField', normal="0 1 0", d="-3", stiffness="100000")
visu = Elastic.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", rotation="90 0 0", translation="6 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = Elastic.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", rotation="90 0 0", translation="6 0 0")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
TetrahedronFEMForceField_assemble.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 0">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop/>
<Node name="BeamFEM_SMALL">
<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"/>
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" />
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="true"
method="small" computeVonMisesStress="2" showVonMisesStressPerElement="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
<Node name="BeamFEM_LARGE">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
<MechanicalObject template="Vec3" translation="11 0 0"/>
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<DiagonalMass massDensity="0.2" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="true"
method="large" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
<FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", gravity="0 -9 0")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.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.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('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('DefaultAnimationLoop', )
beam_fem__small = root.addChild('BeamFEM_SMALL')
beam_fem__small.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__small.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__small.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__small.addObject('MechanicalObject', template="Vec3")
beam_fem__small.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__small.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__small.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__small.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__small.addObject('DiagonalMass', massDensity="0.2")
beam_fem__small.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="true", method="small", computeVonMisesStress="2", showVonMisesStressPerElement="true")
beam_fem__small.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__small.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
beam_fem__large = root.addChild('BeamFEM_LARGE')
beam_fem__large.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam_fem__large.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
beam_fem__large.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
beam_fem__large.addObject('MechanicalObject', template="Vec3", translation="11 0 0")
beam_fem__large.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
beam_fem__large.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam_fem__large.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
beam_fem__large.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
beam_fem__large.addObject('DiagonalMass', massDensity="0.2")
beam_fem__large.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="true", method="large", computeVonMisesStress="1", showVonMisesStressPerElement="true")
beam_fem__large.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
beam_fem__large.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")
TetrahedronFEMForceField_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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<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="Beam">
<RegularGridTopology name="grid" n="76 16 16" min="0 6 -2" max="19 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="TetrahedronFEMForceField-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" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="Vec3"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="Vec3" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="1000" />
<PlaneForceField normal="0 1 0" d="2" stiffness="10000" showPlane="1" />
<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping 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', )
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="76 16 16", min="0 6 -2", max="19 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
tetrahedron_fem_force_field__cpu_red = root.addChild('TetrahedronFEMForceField-CPU-red')
tetrahedron_fem_force_field__cpu_red.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
tetrahedron_fem_force_field__cpu_red.addObject('CGLinearSolver', iterations="10", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
tetrahedron_fem_force_field__cpu_red.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="Vec3")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetTopologyModifier', name="Modifier")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
tetrahedron_fem_force_field__cpu_red.addObject('DiagonalMass', totalMass="50.0")
tetrahedron_fem_force_field__cpu_red.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
tetrahedron_fem_force_field__cpu_red.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronFEMForceField', template="Vec3", name="FEM", computeGlobalMatrix="false", method="large", poissonRatio="0.3", youngModulus="1000")
tetrahedron_fem_force_field__cpu_red.addObject('PlaneForceField', normal="0 1 0", d="2", stiffness="10000", showPlane="1")
surface = TetrahedronFEMForceField-CPU-red.addChild('surface')
surface.addObject('TriangleSetTopologyContainer', name="Container")
surface.addObject('TriangleSetTopologyModifier', name="Modifier")
surface.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
surface.addObject('Tetra2TriangleTopologicalMapping', 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")
TetrahedronFEMForceField_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 [TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<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 IdentityMapping MechanicalObject TetrahedronFEMForceField TetrahedronSetGeometryAlgorithms TriangleSetGeometryAlgorithms] -->
<VisualStyle displayFlags="showBehaviorModels showVisual" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<CollisionPipeline name="CollisionPipeline" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="collision response" response="PenalityContactForceField" />
<DiscreteIntersection/>
<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="TetrahedronFEMForceField-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" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" />
<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="CudaVec3f" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="2000" />
<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="CudaVec3f" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping 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', )
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
tetrahedron_fem_force_field__gpu__green = root.addChild('TetrahedronFEMForceField-GPU-Green')
tetrahedron_fem_force_field__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
tetrahedron_fem_force_field__gpu__green.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
tetrahedron_fem_force_field__gpu__green.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="CudaVec3f")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetTopologyModifier', name="Modifier")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="CudaVec3f")
tetrahedron_fem_force_field__gpu__green.addObject('DiagonalMass', totalMass="50.0")
tetrahedron_fem_force_field__gpu__green.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
tetrahedron_fem_force_field__gpu__green.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronFEMForceField', template="CudaVec3f", name="FEM", computeGlobalMatrix="false", method="large", poissonRatio="0.3", youngModulus="2000")
surface = TetrahedronFEMForceField-GPU-Green.addChild('surface')
surface.addObject('TriangleSetTopologyContainer', name="Container")
surface.addObject('TriangleSetTopologyModifier', name="Modifier")
surface.addObject('TriangleSetGeometryAlgorithms', template="CudaVec3f", name="GeomAlgo")
surface.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container")
visu = surface.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="green")
visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")
TetrahedronFEMForceField_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 [TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<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 IdentityMapping MechanicalObject PlaneForceField TetrahedronFEMForceField TetrahedronSetGeometryAlgorithms TriangleSetGeometryAlgorithms] -->
<VisualStyle displayFlags="showBehaviorModels showVisual" />
<DefaultAnimationLoop />
<DefaultVisualManagerLoop />
<CollisionPipeline name="CollisionPipeline" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="collision response" response="PenalityContactForceField" />
<DiscreteIntersection/>
<Node name="Beam">
<RegularGridTopology name="grid" n="76 16 16" min="0 6 -2" max="19 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="TetrahedronFEMForceField-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" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" />
<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="CudaVec3f" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="1000" />
<PlaneForceField normal="0 1 0" d="2" stiffness="10000" showPlane="1" />
<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="CudaVec3f" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping 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', )
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="76 16 16", min="0 6 -2", max="19 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
tetrahedron_fem_force_field__gpu__green = root.addChild('TetrahedronFEMForceField-GPU-Green')
tetrahedron_fem_force_field__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
tetrahedron_fem_force_field__gpu__green.addObject('CGLinearSolver', iterations="10", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
tetrahedron_fem_force_field__gpu__green.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="CudaVec3f")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetTopologyModifier', name="Modifier")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="CudaVec3f")
tetrahedron_fem_force_field__gpu__green.addObject('DiagonalMass', totalMass="50.0")
tetrahedron_fem_force_field__gpu__green.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
tetrahedron_fem_force_field__gpu__green.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
tetrahedron_fem_force_field__gpu__green.addObject('TetrahedronFEMForceField', template="CudaVec3f", name="FEM", computeGlobalMatrix="false", method="large", poissonRatio="0.3", youngModulus="1000")
tetrahedron_fem_force_field__gpu__green.addObject('PlaneForceField', normal="0 1 0", d="2", stiffness="10000", showPlane="1")
surface = TetrahedronFEMForceField-GPU-Green.addChild('surface')
surface.addObject('TriangleSetTopologyContainer', name="Container")
surface.addObject('TriangleSetTopologyModifier', name="Modifier")
surface.addObject('TriangleSetGeometryAlgorithms', template="CudaVec3f", name="GeomAlgo")
surface.addObject('Tetra2TriangleTopologicalMapping', 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")
TetrahedronFEMForceField_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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<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="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="TetrahedronFEMForceField-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" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="Vec3"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<DiagonalMass totalMass="50.0" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<TetrahedronFEMForceField template="Vec3" name="FEM" computeGlobalMatrix="false" method="large" poissonRatio="0.3" youngModulus="2000" />
<Node name="surface">
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping 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', )
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
tetrahedron_fem_force_field__cpu_red = root.addChild('TetrahedronFEMForceField-CPU-red')
tetrahedron_fem_force_field__cpu_red.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
tetrahedron_fem_force_field__cpu_red.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
tetrahedron_fem_force_field__cpu_red.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="Vec3")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetTopologyModifier', name="Modifier")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
tetrahedron_fem_force_field__cpu_red.addObject('DiagonalMass', totalMass="50.0")
tetrahedron_fem_force_field__cpu_red.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
tetrahedron_fem_force_field__cpu_red.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
tetrahedron_fem_force_field__cpu_red.addObject('TetrahedronFEMForceField', template="Vec3", name="FEM", computeGlobalMatrix="false", method="large", poissonRatio="0.3", youngModulus="2000")
surface = TetrahedronFEMForceField-CPU-red.addChild('surface')
surface.addObject('TriangleSetTopologyContainer', name="Container")
surface.addObject('TriangleSetTopologyModifier', name="Modifier")
surface.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
surface.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container")
visu = surface.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="red")
visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")