StandardTetrahedralFEMForceField

Generic Tetrahedral finite elements.

Vec3d

Templates:

• Vec3d

Target: Sofa.Component.SolidMechanics.FEM.HyperElastic

namespace: sofa::component::solidmechanics::fem::hyperelastic

parents:

• ForceField

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
materialName	the name of the material to be used	ArrudaBoyce
ParameterSet	The global parameters specifying the material
AnisotropyDirections	The global directions of anisotropy of the material
ParameterFile	the name of the file describing the material parameters for all tetrahedra	myFile.param
tetrahedronInfo	Internal tetrahedron data
edgeInfo	Internal edge data

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

StandardTetrahedralFEMForceField.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" dt="0.005" showBoundingTree="0" 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 [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.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [StandardTetrahedralFEMForceField] -->
    <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 [Visual3DText VisualStyle] -->

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

    <Node name="Corrotational">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="0 0 0"/>

        <MechanicalObject name="mechObj"/>
        <UniformMass totalMass="1.0"/>
        <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.45" method="large" />

        <BoxROI drawBoxes="0" box="0 0 0 1 1 0.05" name="box"/>
        <FixedProjectiveConstraint indices="@box.indices"/>
        <Visual3DText text="Corrotational" position="1 0 -0.5" scale="0.2" />
    </Node>

    <Node name="ArrudaBoyce">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="2 0 0"/>

        <MechanicalObject name="mechObj"/>
        <UniformMass totalMass="1.0"/>

        <Node name="tetras">
            <TetrahedronSetTopologyContainer name="Container"/>
            <TetrahedronSetTopologyModifier name="Modifier" />
            <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
            <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />

            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="3448.2759 31034.483"/>
        </Node>

        <BoxROI drawBoxes="1" box="2 0 0 3 1 0.05" name="box"/>
        <FixedProjectiveConstraint indices="@box.indices"/>
        <Visual3DText text="ArrudaBoyce" position="3 0 -0.5" scale="0.2" />
    </Node>

    <Node name="StVenantKirchhoff">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="4 0 0"/>

        <MechanicalObject name="mechObj"/>
        <UniformMass totalMass="1.0"/>

        <Node name="tetras">
            <TetrahedronSetTopologyContainer name="Container"/>
            <TetrahedronSetTopologyModifier name="Modifier" />
            <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
            <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />

            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="StVenantKirchhoff"/>
        </Node>

        <BoxROI drawBoxes="1" box="4 0 0 5 1 0.05" name="box"/>
        <FixedProjectiveConstraint indices="@box.indices"/>
        <Visual3DText text="StVenantKirchhoff" position="5 0 -0.5" scale="0.2" />
    </Node>


    <Node name="NeoHookean">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="6 0 0"/>

        <MechanicalObject name="mechObj"/>
        <UniformMass totalMass="1.0"/>

        <Node name="tetras">
            <TetrahedronSetTopologyContainer name="Container"/>
            <TetrahedronSetTopologyModifier name="Modifier" />
            <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
            <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />

            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="3448.2759 31034.483" materialName="NeoHookean"/>
        </Node>

        <BoxROI drawBoxes="1" box="6 0 0 7 1 0.05" name="box"/>
        <FixedProjectiveConstraint indices="@box.indices"/>
        <Visual3DText text="NeoHookean" position="7 0 -0.5" scale="0.2" />
    </Node>


    <Node name="MooneyRivlin">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <RegularGridTopology name="hexaGrid" min="0 0 0" max="1 1 2.7" n="3 3 8" p0="8 0 0"/>

        <MechanicalObject name="mechObj"/>
        <UniformMass totalMass="1.0"/>

        <Node name="tetras">
            <TetrahedronSetTopologyContainer name="Container"/>
            <TetrahedronSetTopologyModifier name="Modifier" />
            <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
            <Hexa2TetraTopologicalMapping name="default28" input="@../" output="@Container" printLog="0" />

            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="5000 7000 10" materialName="MooneyRivlin"/>
        </Node>

        <BoxROI drawBoxes="1" box="8 0 0 9 1 0.05" name="box"/>
        <FixedProjectiveConstraint indices="@box.indices"/>
        <Visual3DText text="MooneyRivlin" position="9 0 -0.5" scale="0.2" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.005", showBoundingTree="0", 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.SolidMechanics.FEM.HyperElastic")
   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="showForceFields showBehaviorModels")

   corrotational = root.addChild('Corrotational')

   corrotational.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   corrotational.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   corrotational.addObject('RegularGridTopology', name="hexaGrid", min="0 0 0", max="1 1 2.7", n="3 3 8", p0="0 0 0")
   corrotational.addObject('MechanicalObject', name="mechObj")
   corrotational.addObject('UniformMass', totalMass="1.0")
   corrotational.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="10000", poissonRatio="0.45", method="large")
   corrotational.addObject('BoxROI', drawBoxes="0", box="0 0 0 1 1 0.05", name="box")
   corrotational.addObject('FixedProjectiveConstraint', indices="@box.indices")
   corrotational.addObject('Visual3DText', text="Corrotational", position="1 0 -0.5", scale="0.2")

   arruda_boyce = root.addChild('ArrudaBoyce')

   arruda_boyce.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   arruda_boyce.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   arruda_boyce.addObject('RegularGridTopology', name="hexaGrid", min="0 0 0", max="1 1 2.7", n="3 3 8", p0="2 0 0")
   arruda_boyce.addObject('MechanicalObject', name="mechObj")
   arruda_boyce.addObject('UniformMass', totalMass="1.0")

   tetras = ArrudaBoyce.addChild('tetras')

   tetras.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetras.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetras.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetras.addObject('Hexa2TetraTopologicalMapping', name="default28", input="@../", output="@Container", printLog="0")
   tetras.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="3448.2759 31034.483")

   arruda_boyce.addObject('BoxROI', drawBoxes="1", box="2 0 0 3 1 0.05", name="box")
   arruda_boyce.addObject('FixedProjectiveConstraint', indices="@box.indices")
   arruda_boyce.addObject('Visual3DText', text="ArrudaBoyce", position="3 0 -0.5", scale="0.2")

   st_venant_kirchhoff = root.addChild('StVenantKirchhoff')

   st_venant_kirchhoff.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   st_venant_kirchhoff.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   st_venant_kirchhoff.addObject('RegularGridTopology', name="hexaGrid", min="0 0 0", max="1 1 2.7", n="3 3 8", p0="4 0 0")
   st_venant_kirchhoff.addObject('MechanicalObject', name="mechObj")
   st_venant_kirchhoff.addObject('UniformMass', totalMass="1.0")

   tetras = StVenantKirchhoff.addChild('tetras')

   tetras.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetras.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetras.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetras.addObject('Hexa2TetraTopologicalMapping', name="default28", input="@../", output="@Container", printLog="0")
   tetras.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="3448.2759 31034.483", materialName="StVenantKirchhoff")

   st_venant_kirchhoff.addObject('BoxROI', drawBoxes="1", box="4 0 0 5 1 0.05", name="box")
   st_venant_kirchhoff.addObject('FixedProjectiveConstraint', indices="@box.indices")
   st_venant_kirchhoff.addObject('Visual3DText', text="StVenantKirchhoff", position="5 0 -0.5", scale="0.2")

   neo_hookean = root.addChild('NeoHookean')

   neo_hookean.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   neo_hookean.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   neo_hookean.addObject('RegularGridTopology', name="hexaGrid", min="0 0 0", max="1 1 2.7", n="3 3 8", p0="6 0 0")
   neo_hookean.addObject('MechanicalObject', name="mechObj")
   neo_hookean.addObject('UniformMass', totalMass="1.0")

   tetras = NeoHookean.addChild('tetras')

   tetras.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetras.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetras.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetras.addObject('Hexa2TetraTopologicalMapping', name="default28", input="@../", output="@Container", printLog="0")
   tetras.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="3448.2759 31034.483", materialName="NeoHookean")

   neo_hookean.addObject('BoxROI', drawBoxes="1", box="6 0 0 7 1 0.05", name="box")
   neo_hookean.addObject('FixedProjectiveConstraint', indices="@box.indices")
   neo_hookean.addObject('Visual3DText', text="NeoHookean", position="7 0 -0.5", scale="0.2")

   mooney_rivlin = root.addChild('MooneyRivlin')

   mooney_rivlin.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   mooney_rivlin.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   mooney_rivlin.addObject('RegularGridTopology', name="hexaGrid", min="0 0 0", max="1 1 2.7", n="3 3 8", p0="8 0 0")
   mooney_rivlin.addObject('MechanicalObject', name="mechObj")
   mooney_rivlin.addObject('UniformMass', totalMass="1.0")

   tetras = MooneyRivlin.addChild('tetras')

   tetras.addObject('TetrahedronSetTopologyContainer', name="Container")
   tetras.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tetras.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tetras.addObject('Hexa2TetraTopologicalMapping', name="default28", input="@../", output="@Container", printLog="0")
   tetras.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="5000 7000 10", materialName="MooneyRivlin")

   mooney_rivlin.addObject('BoxROI', drawBoxes="1", box="8 0 0 9 1 0.05", name="box")
   mooney_rivlin.addObject('FixedProjectiveConstraint', indices="@box.indices")
   mooney_rivlin.addObject('Visual3DText', text="MooneyRivlin", position="9 0 -0.5", scale="0.2")

StandardTetrahedralFEMForceFieldCPU.scn

XMLPython

<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.SolidMechanics.FEM.HyperElastic"/> <!-- Needed to use components [StandardTetrahedralFEMForceField] -->
    <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/>
    <BVHNarrowPhase/>
    <NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <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="TorusTensorMass">
            <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" createSubelements="true"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="2.5" template="Vec3d" />
            <UniformMass totalMass="5" />
            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="200 0.01" />
            <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" createSubelements="true"/>
            <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" createSubelements="true"/>
            <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.SolidMechanics.FEM.HyperElastic")
   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', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

   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_tensor_mass = ChainFEM.addChild('TorusTensorMass')

   torus_tensor_mass.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   torus_tensor_mass.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_tensor_mass.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", createSubelements="true")
   torus_tensor_mass.addObject('MeshTopology', src="@loader")
   torus_tensor_mass.addObject('MechanicalObject', src="@loader", dx="2.5", template="Vec3d")
   torus_tensor_mass.addObject('UniformMass', totalMass="5")
   torus_tensor_mass.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="200 0.01")

   visu = TorusTensorMass.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 = TorusTensorMass.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", createSubelements="true")
   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", createSubelements="true")
   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', )

StandardTetrahedralFEMForceFieldCUDA.scn

XMLPython

<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] -->
    <RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BarycentricMapping MechanicalObject StandardTetrahedralFEMForceField UniformMass] -->
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <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_2" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_2" color="gray" />
        </Node>
        <Node name="TorusTensorMass">
            <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" template="CudaVec3f" />
            <UniformMass totalMass="5" />
            <StandardTetrahedralFEMForceField name="FEM" ParameterSet="200 0.01" />
            <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_1" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" 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_3" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_3" 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('RequiredPlugin', name="SofaCUDA")
   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")

   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_2", filename="mesh/torus2.obj", handleSeams="1")
   torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_2", color="gray")

   torus_tensor_mass = ChainFEM.addChild('TorusTensorMass')

   torus_tensor_mass.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   torus_tensor_mass.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_tensor_mass.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
   torus_tensor_mass.addObject('MeshTopology', src="@loader")
   torus_tensor_mass.addObject('MechanicalObject', src="@loader", dx="2.5", template="CudaVec3f")
   torus_tensor_mass.addObject('UniformMass', totalMass="5")
   torus_tensor_mass.addObject('StandardTetrahedralFEMForceField', name="FEM", ParameterSet="200 0.01")

   visu = TorusTensorMass.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 = TorusTensorMass.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_1", filename="mesh/torus2.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", 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_3", filename="mesh/torus.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_3", 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', )