TriangularFEMForceField

Corotational Triangular finite elements for dynamic topology.

Vec3d

Templates:

• Vec3d

Target: Sofa.Component.SolidMechanics.FEM.Elastic

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

parents:

• BaseLinearElasticityFEMForceField

Data

Name	Description	Default value
name	object name	unnamed
printLog	if true, emits extra messages at runtime.	0
tags	list of the subsets the objet belongs to
bbox	this object bounding box
componentState	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).	Undefined
listening	if true, handle the events, otherwise ignore the events	0
rayleighStiffness	Rayleigh damping - stiffness matrix coefficient	0
poissonRatio	FEM Poisson Ratio in Hooke's law [0,0.5[	0.45
youngModulus	FEM Young's Modulus in Hooke's law	5000
triangleInfo	Internal triangle data
vertexInfo	Internal point data
method	large: large displacements, small: small displacements	large
rotatedInitialElements	Flag activating rendering of stress directions within each triangle
initialTransformation	Flag activating rendering of stress directions within each triangle
hosfordExponant	Exponant in the Hosford yield criteria	1
criteriaValue	Fracturable threshold used to draw fracturable triangles	1e+15
computePrincipalStress	Compute principal stress for each triangle	0
Visualization
showStressValue	Flag activating rendering of stress values as a color in each triangle	1
showStressVector	Flag activating rendering of stress directions within each triangle	0
showFracturableTriangles	Flag activating rendering of triangles to fracture	0

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

TriangularFEMForceFieldOptim.scn

XMLPython

<!-- Mechanical TriangularFEMForceFieldOptim Example -->
<Node name="root" dt="0.05" gravity="0 10 10" showBoundingTree="0">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <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 [TriangularFEMForceFieldOptim] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showVisual showBehaviorModels showForceFields showWireframe" />
    <DefaultAnimationLoop/>
    <!-- Activate this loader to use a square mesh with only two triangles (useful to debug base equations) -->
    <!--<MeshGmshLoader name="loaderSquare" triangles="0 1 3  1 2 3" position="0 0 0  1 0 0  1 1 0  0 1 0" />-->
    <!-- Activate this loader to load a square mesh with many triangles -->
    <MeshGmshLoader filename="mesh/square3.msh" name="loaderSquare" />
    <Node name="SquareGravity1">
        <EulerImplicitSolver name="odesolver1" printLog="0"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver verbose="0" printLog="0" iterations="25" name="linearsolver1" tolerance="1.0e-9" threshold="1.0e-9" />
        <TriangleSetTopologyContainer name="Container" src="@../loaderSquare" />
        <MechanicalObject name="DOFs" src="@../loaderSquare" scale="100"  />
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
        <DiagonalMass massDensity="0.005" />
        <FixedProjectiveConstraint indices="0 1 2" />
        <TriangularFEMForceFieldOptim name="FEM" youngModulus="600" poissonRatio="0.3" method="large" printLog="1"/>
        <Node name="VisuA">
            <OglModel name="Visual" color="yellow" />
            <IdentityMapping name="visualMapping" input="@../DOFs" output="@Visual" />
        </Node>
    </Node>
    <!-- Activate this version to compare computed stiffness matrix (addKToMatrix) with addDForce -->
    <!--<Node name="SquareGravityTestMatrixConstruction">
        <EulerImplicitSolver name="odesolver2" printLog="0" />
        <CGLinearSolver template="SparseMatrix" verbose="0" printLog="1" iterations="25" name="linearsolver2" tolerance="1.0e-9" threshold="1.0e-9" />
        <TriangleSetTopologyContainer name="Container" src="@../loaderSquare" />
        <MechanicalObject name="DOFs" src="@../loaderSquare" scale="100"  />
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
        <DiagonalMass massDensity="0.005" />
        <FixedProjectiveConstraint indices="0 1 2" />
        <TriangularFEMForceFieldOptim name="FEM" youngModulus="600" poissonRatio="0.3" method="large" printLog="1"/>
        <Node name="VisuA">
            <OglModel name="Visual" color="yellow" />
            <IdentityMapping name="visualMapping" input="@../DOFs" output="@Visual" />
        </Node>
    </Node>-->

</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.05", gravity="0 10 10", showBoundingTree="0")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showForceFields showWireframe")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('MeshGmshLoader', filename="mesh/square3.msh", name="loaderSquare")

   square_gravity1 = root.addChild('SquareGravity1')

   square_gravity1.addObject('EulerImplicitSolver', name="odesolver1", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1")
   square_gravity1.addObject('CGLinearSolver', verbose="0", printLog="0", iterations="25", name="linearsolver1", tolerance="1.0e-9", threshold="1.0e-9")
   square_gravity1.addObject('TriangleSetTopologyContainer', name="Container", src="@../loaderSquare")
   square_gravity1.addObject('MechanicalObject', name="DOFs", src="@../loaderSquare", scale="100")
   square_gravity1.addObject('TriangleSetTopologyModifier', name="Modifier")
   square_gravity1.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
   square_gravity1.addObject('DiagonalMass', massDensity="0.005")
   square_gravity1.addObject('FixedProjectiveConstraint', indices="0 1 2")
   square_gravity1.addObject('TriangularFEMForceFieldOptim', name="FEM", youngModulus="600", poissonRatio="0.3", method="large", printLog="1")

   visu_a = SquareGravity1.addChild('VisuA')

   visu_a.addObject('OglModel', name="Visual", color="yellow")
   visu_a.addObject('IdentityMapping', name="visualMapping", input="@../DOFs", output="@Visual")

TriangularFEMForceField.scn

XMLPython

<!-- Mechanical TriangularFEMForceField Example -->
<Node name="root" dt="0.05" gravity="0 -9.8 10" showBoundingTree="0">

    <Node name="plugins">
        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
        <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 [TriangularFEMForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    </Node>

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

    <Node name="SquareGravity">
        <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 filename="mesh/square3.msh" name="loader" />
        <MechanicalObject src="@loader" name="DOFs" scale3d="100 100 0" />
        <TriangleSetTopologyContainer src="@loader" name="Container" />
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
        <DiagonalMass massDensity="0.005" />
        <FixedProjectiveConstraint indices="0 1 2" />
        <TriangularFEMForceField name="FEM" youngModulus="600" poissonRatio="0.3" method="large" />
        <Node name="VisuA">
            <OglModel name="Visual" color="yellow" />
            <IdentityMapping template="Vec3,Vec3" name="visualMapping" input="@../DOFs" output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.05", gravity="0 -9.8 10", showBoundingTree="0")

   plugins = root.addChild('plugins')

   plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
   plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")

   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )

   square_gravity = root.addChild('SquareGravity')

   square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   square_gravity.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   square_gravity.addObject('MeshGmshLoader', filename="mesh/square3.msh", name="loader")
   square_gravity.addObject('MechanicalObject', src="@loader", name="DOFs", scale3d="100 100 0")
   square_gravity.addObject('TriangleSetTopologyContainer', src="@loader", name="Container")
   square_gravity.addObject('TriangleSetTopologyModifier', name="Modifier")
   square_gravity.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
   square_gravity.addObject('DiagonalMass', massDensity="0.005")
   square_gravity.addObject('FixedProjectiveConstraint', indices="0 1 2")
   square_gravity.addObject('TriangularFEMForceField', name="FEM", youngModulus="600", poissonRatio="0.3", method="large")

   visu_a = SquareGravity.addChild('VisuA')

   visu_a.addObject('OglModel', name="Visual", color="yellow")
   visu_a.addObject('IdentityMapping', template="Vec3,Vec3", name="visualMapping", input="@../DOFs", output="@Visual")

TriangularFEMForceField_RemovingMeshTest.scn

XMLPython

<?xml version="1.0" ?>
<!-- Automatic Triangle removal on a simple Triangle topology with FEM: Element removed are define in: ./RemovingTrianglesProcess.txt -->
<Node name="root" gravity="0 -9 0" dt="0.01"  bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <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 [TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Utility"/> <!-- Needed to use components [TopologicalChangeProcessor] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

    <VisualStyle displayFlags="showVisual showBehaviorModels showForceFields" />
    <DefaultAnimationLoop/>
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase name="N2" />
    <BVHNarrowPhase />
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <Node name="SquareGravity">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5" name="linear solver"/>
        <MeshGmshLoader name="loader" filename="mesh/square3.msh" createSubelements="true" />
        <MechanicalObject name="dofs" src="@loader" template="Vec3" />
        <TriangleSetTopologyContainer name="Triangle_topo" src="@loader"/>
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <DiagonalMass template="Vec3,Vec3" name="mass" massDensity="1.0" />

        <TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />

        <TopologicalChangeProcessor listening="1" filename="RemovingTrianglesProcess_constraint.txt" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 0", dt="0.01", bbox="-1 -1 -1 1 1 1")

   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.IO.Mesh")
   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.Utility")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showForceFields")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', name="N2")
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")

   square_gravity = root.addChild('SquareGravity')

   square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   square_gravity.addObject('CGLinearSolver', iterations="25", tolerance="1e-5", threshold="1e-5", name="linear solver")
   square_gravity.addObject('MeshGmshLoader', name="loader", filename="mesh/square3.msh", createSubelements="true")
   square_gravity.addObject('MechanicalObject', name="dofs", src="@loader", template="Vec3")
   square_gravity.addObject('TriangleSetTopologyContainer', name="Triangle_topo", src="@loader")
   square_gravity.addObject('TriangleSetTopologyModifier', name="Modifier")
   square_gravity.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   square_gravity.addObject('DiagonalMass', template="Vec3,Vec3", name="mass", massDensity="1.0")
   square_gravity.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="60")
   square_gravity.addObject('TopologicalChangeProcessor', listening="1", filename="RemovingTrianglesProcess_constraint.txt")

TriangularFEMForceFieldOptim_tissue100x100_gpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 -1" 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 [TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <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 [DiagonalMass FixedProjectiveConstraint IdentityMapping MechanicalObject TriangleSetGeometryAlgorithms TriangularFEMForceFieldOptim] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />

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

    <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

    <Node name="TriangularFEMForceFieldOptim-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="@../tissue.position" name="dofs" template="CudaVec3f"/>

        <TriangleSetTopologyContainer name="Container" src="@../tissue"/>
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="CudaVec3f" />

        <DiagonalMass massDensity="0.15" template="CudaVec3f,CudaVec3f"/>
        <FixedProjectiveConstraint indices="9900 9901 9902 9903 9996 9997 9998 9999" />

        <TriangularFEMForceFieldOptim name="FEM" youngModulus="600" poissonRatio="0.3" method="large" template="CudaVec3f"/>
        <Node name="Visu">
            <OglModel name="Visual" color="green" />
            <IdentityMapping input="@../dofs" output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 -1", 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.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', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )
   root.addObject('RegularGridTopology', name="tissue", n="100 100 1", min="0 0 0", max="10 10 0")

   triangular_fem_force_field_optim__gpu__green = root.addChild('TriangularFEMForceFieldOptim-GPU-Green')

   triangular_fem_force_field_optim__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   triangular_fem_force_field_optim__gpu__green.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   triangular_fem_force_field_optim__gpu__green.addObject('MechanicalObject', position="@../tissue.position", name="dofs", template="CudaVec3f")
   triangular_fem_force_field_optim__gpu__green.addObject('TriangleSetTopologyContainer', name="Container", src="@../tissue")
   triangular_fem_force_field_optim__gpu__green.addObject('TriangleSetTopologyModifier', name="Modifier")
   triangular_fem_force_field_optim__gpu__green.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="CudaVec3f")
   triangular_fem_force_field_optim__gpu__green.addObject('DiagonalMass', massDensity="0.15", template="CudaVec3f,CudaVec3f")
   triangular_fem_force_field_optim__gpu__green.addObject('FixedProjectiveConstraint', indices="9900 9901 9902 9903 9996 9997 9998 9999")
   triangular_fem_force_field_optim__gpu__green.addObject('TriangularFEMForceFieldOptim', name="FEM", youngModulus="600", poissonRatio="0.3", method="large", template="CudaVec3f")

   visu = TriangularFEMForceFieldOptim-GPU-Green.addChild('Visu')

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

TriangularFEMForceFieldOptim_tissue100x100_cpu.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" gravity="0 -9 -1" 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.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 [TriangularFEMForceFieldOptim] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <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 verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <DiscreteIntersection/>

    <RegularGridTopology name="tissue" n="100 100 1" min="0 0 0" max="10 10 0" />

    <Node name="TriangularFEMForceFieldOptim-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="@../tissue.position" name="dofs" template="Vec3"/>

        <TriangleSetTopologyContainer name="Container" src="@../tissue"/>
        <TriangleSetTopologyModifier name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />

        <DiagonalMass massDensity="0.15" template="Vec3,Vec3"/>
        <FixedProjectiveConstraint indices="9900 9901 9902 9903 9996 9997 9998 9999" />

        <TriangularFEMForceFieldOptim name="FEM" youngModulus="600" poissonRatio="0.3" method="large" template="Vec3"/>
        <Node name="Visu">
            <OglModel name="Visual" color="red" />
            <IdentityMapping input="@../dofs" output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 -9 -1", 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.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.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('DefaultAnimationLoop', )
   root.addObject('DefaultVisualManagerLoop', )
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('DiscreteIntersection', )
   root.addObject('RegularGridTopology', name="tissue", n="100 100 1", min="0 0 0", max="10 10 0")

   triangular_fem_force_field_optim__cpu_red = root.addChild('TriangularFEMForceFieldOptim-CPU-red')

   triangular_fem_force_field_optim__cpu_red.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   triangular_fem_force_field_optim__cpu_red.addObject('CGLinearSolver', iterations="20", name="linear solver", tolerance="1.0e-6", threshold="1.0e-6")
   triangular_fem_force_field_optim__cpu_red.addObject('MechanicalObject', position="@../tissue.position", name="dofs", template="Vec3")
   triangular_fem_force_field_optim__cpu_red.addObject('TriangleSetTopologyContainer', name="Container", src="@../tissue")
   triangular_fem_force_field_optim__cpu_red.addObject('TriangleSetTopologyModifier', name="Modifier")
   triangular_fem_force_field_optim__cpu_red.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
   triangular_fem_force_field_optim__cpu_red.addObject('DiagonalMass', massDensity="0.15", template="Vec3,Vec3")
   triangular_fem_force_field_optim__cpu_red.addObject('FixedProjectiveConstraint', indices="9900 9901 9902 9903 9996 9997 9998 9999")
   triangular_fem_force_field_optim__cpu_red.addObject('TriangularFEMForceFieldOptim', name="FEM", youngModulus="600", poissonRatio="0.3", method="large", template="Vec3")

   visu = TriangularFEMForceFieldOptim-CPU-red.addChild('Visu')

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