NonUniformHexahedronFEMForceFieldAndMass

Non uniform Hexahedral finite elements.

Vec3d

Templates:

• Vec3d

Target: Sofa.Component.SolidMechanics.FEM.NonUniform

namespace: sofa::component::solidmechanics::fem::nonuniform

parents:

• HexahedronFEMForceFieldAndMass

Data

Name	Description	Default value
name	object name	unnamed
printLog	if true, emits extra messages at runtime.	0
tags	list of the subsets the object belongs to
bbox	this object bounding box
componentState	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).	Undefined
listening	if true, handle the events, otherwise ignore the events	0
rayleighStiffness	Rayleigh damping - stiffness matrix coefficient	0
separateGravity	add separately gravity to velocity computation	0
rayleighMass	Rayleigh damping - mass matrix coefficient	0
poissonRatio	FEM Poisson Ratio in Hooke's law [0,0.5[	0.45
youngModulus	FEM Young's Modulus in Hooke's law	5000
method	"large" or "polar" or "small" displacements	large
updateStiffnessMatrix		0
gatherPt	number of dof accumulated per threads during the gather operation (Only use in GPU version)
gatherBsize	number of dof accumulated per threads during the gather operation (Only use in GPU version)
stiffnessMatrices	Stiffness matrices per element (K_i)
initialPoints	Initial Position
massMatrices	Mass matrices per element (M_i)
density	density == volumetric mass in english (kg.m-3)	1
lumpedMass	Does it use lumped masses?	0
nbVirtualFinerLevels	use virtual finer levels, in order to compte non-uniform stiffness	0
useMass	Using this ForceField like a Mass? (rather than using a separated Mass)	1
totalMass		0
Visualization
drawing	draw the forcefield if true	1
drawPercentageOffset	size of the hexa	0.15

Links

Name	Description	Destination type name
context	Graph Node containing this object (or BaseContext::getDefault() if no graph is used)	BaseContext
slaves	Sub-objects used internally by this object	BaseObject
master	nullptr for regular objects, or master object for which this object is one sub-objects	BaseObject
mechanicalStates	List of mechanical states to which this component is associated	BaseMechanicalState
mstate	MechanicalState used by this component	MechanicalState<Vec3d>
topology	link to the topology container	BaseMeshTopology

Examples

NonUniformHexahedronFEMForceFieldAndMass.scn

XMLPython

<Node name="SandBox" animate="0" dt="0.06" gravity="0 0 -9.81" multiThreadSimulation="0" time="0.0">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceFieldAndMass] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.NonUniform"/> <!-- Needed to use components [NonUniformHexahedronFEMForceFieldAndMass] -->
    <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.Topology.Container.Grid"/> <!-- Needed to use components [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showVisual" />
    <CollisionPipeline verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <include name="Salad Bowl 1" href="Objects/SaladBowl.xml" contactStiffness="10000" dy="-10" dz="-20" scale="100" />
    <include name="Salad Bowl 2" href="Objects/SaladBowl.xml" contactStiffness="10000" dx="70" dy="-10" dz="-20" scale="100" />
    <Node name="uniform">
        <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" />
        <SparseGridTopology n="8 6 7" fileTopology="mesh/Armadillo_verysimplified.obj" />
        <MechanicalObject dx="70" ry="25" />
        <HexahedronFEMForceFieldAndMass youngModulus="20000" poissonRatio="0.3" method="large" density="10" updateStiffnessMatrix="false" printLog="0" />
        <Node name="Visuunif">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/Armadillo_simplified.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="1 .4 0 1" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Colliunif">
            <MeshOBJLoader name="loader" filename="mesh/Armadillo_verysimplified.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel contactStiffness="1" />
            <LineCollisionModel contactStiffness="1" />
            <PointCollisionModel contactStiffness="1" />
            <BarycentricMapping />
        </Node>
    </Node>
    <Node name="non uniform">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <SparseGridTopology n="8 6 7" fileTopology="mesh/Armadillo_verysimplified.obj" nbVirtualFinerLevels="2" />
        <MechanicalObject ry="25" />
        <NonUniformHexahedronFEMForceFieldAndMass nbVirtualFinerLevels="2" youngModulus="20000" poissonRatio="0.3" method="large" density="10" updateStiffnessMatrix="false" printLog="0" />
        <Node name="Visunonunif">
            <MeshOBJLoader name="meshLoader_1" filename="mesh/Armadillo_simplified.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_1" color="0.4 0.6 1.0" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Collinonunif">
            <MeshOBJLoader name="loader" filename="mesh/Armadillo_verysimplified.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel contactStiffness="1" />
            <LineCollisionModel contactStiffness="1" />
            <PointCollisionModel contactStiffness="1" />
            <BarycentricMapping />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   sand_box = root_node.addChild('SandBox', animate="0", dt="0.06", gravity="0 0 -9.81", multiThreadSimulation="0", time="0.0")

   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.NonUniform")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   sand_box.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   sand_box.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   sand_box.addObject('DefaultAnimationLoop', )
   sand_box.addObject('VisualStyle', displayFlags="showVisual")
   sand_box.addObject('CollisionPipeline', verbose="0", draw="0")
   sand_box.addObject('BruteForceBroadPhase', )
   sand_box.addObject('BVHNarrowPhase', )
   sand_box.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   sand_box.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
   sand_box.addObject('include', name="Salad Bowl 1", href="Objects/SaladBowl.xml", contactStiffness="10000", dy="-10", dz="-20", scale="100")
   sand_box.addObject('include', name="Salad Bowl 2", href="Objects/SaladBowl.xml", contactStiffness="10000", dx="70", dy="-10", dz="-20", scale="100")

   uniform = SandBox.addChild('uniform')

   uniform.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   uniform.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   uniform.addObject('SparseGridTopology', n="8 6 7", fileTopology="mesh/Armadillo_verysimplified.obj")
   uniform.addObject('MechanicalObject', dx="70", ry="25")
   uniform.addObject('HexahedronFEMForceFieldAndMass', youngModulus="20000", poissonRatio="0.3", method="large", density="10", updateStiffnessMatrix="false", printLog="0")

   visuunif = uniform.addChild('Visuunif')

   visuunif.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/Armadillo_simplified.obj", handleSeams="1")
   visuunif.addObject('OglModel', name="Visual", src="@meshLoader_0", color="1 .4 0 1")
   visuunif.addObject('BarycentricMapping', input="@..", output="@Visual")

   colliunif = uniform.addChild('Colliunif')

   colliunif.addObject('MeshOBJLoader', name="loader", filename="mesh/Armadillo_verysimplified.obj")
   colliunif.addObject('MeshTopology', src="@loader")
   colliunif.addObject('MechanicalObject', src="@loader")
   colliunif.addObject('TriangleCollisionModel', contactStiffness="1")
   colliunif.addObject('LineCollisionModel', contactStiffness="1")
   colliunif.addObject('PointCollisionModel', contactStiffness="1")
   colliunif.addObject('BarycentricMapping', )

   non_uniform = SandBox.addChild('non uniform')

   non_uniform.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   non_uniform.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   non_uniform.addObject('SparseGridTopology', n="8 6 7", fileTopology="mesh/Armadillo_verysimplified.obj", nbVirtualFinerLevels="2")
   non_uniform.addObject('MechanicalObject', ry="25")
   non_uniform.addObject('NonUniformHexahedronFEMForceFieldAndMass', nbVirtualFinerLevels="2", youngModulus="20000", poissonRatio="0.3", method="large", density="10", updateStiffnessMatrix="false", printLog="0")

   visunonunif = non uniform.addChild('Visunonunif')

   visunonunif.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/Armadillo_simplified.obj", handleSeams="1")
   visunonunif.addObject('OglModel', name="Visual", src="@meshLoader_1", color="0.4 0.6 1.0")
   visunonunif.addObject('BarycentricMapping', input="@..", output="@Visual")

   collinonunif = non uniform.addChild('Collinonunif')

   collinonunif.addObject('MeshOBJLoader', name="loader", filename="mesh/Armadillo_verysimplified.obj")
   collinonunif.addObject('MeshTopology', src="@loader")
   collinonunif.addObject('MechanicalObject', src="@loader")
   collinonunif.addObject('TriangleCollisionModel', contactStiffness="1")
   collinonunif.addObject('LineCollisionModel', contactStiffness="1")
   collinonunif.addObject('PointCollisionModel', contactStiffness="1")
   collinonunif.addObject('BarycentricMapping', )