GearSpringForceField
Gear springs for Rigids.
Rigid3d
Templates:
- Rigid3d
Target: Sofa.Component.SolidMechanics.Spring
namespace: sofa::component::solidmechanics::spring
parents:
- PairInteractionForceField
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 |
| spring | pairs of indices, stiffness, damping | |
| filename | output file name | |
| period | period between outputs | 0 |
| reinit | flag enabling reinitialization of the output file at each timestep | 0 |
| Visualization | ||
| showFactorSize | modify the size of the debug information of a given factor | 1 |
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 |
| object1 | First object associated to this component | MechanicalState<Rigid3d> |
| object2 | Second object associated to this component | MechanicalState<Rigid3d> |
Examples
GearSpringForceField.scn
<Node name="root" gravity="0 0 0" dt="0.01" time="0">
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<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 [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<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.Spring"/> <!-- Needed to use components [GearSpringForceField] -->
<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] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showVisual" />
<EulerImplicitSolver name="cg_odesolver" printLog="0" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="linear solver" iterations="50" tolerance="1e-009" threshold="1e-009" />
<MechanicalObject template="Rigid3" name="DOFs" rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1" position="-1.161 0 1.706 0 0.194787 0 0.980846 
																																			-6.7 4 1.706 0 0 0.707107 0.707107 
																																			1.790 0 -5.503 0 0.229019 0 0.973422	
																																			-6.7 5.2 -3.5 0 0 0.707107 0.707107
																																			0 0 0 0 0 0 1" restScale="1" />
<UniformMass name="mass" vertexMass="50 50 [1 0 0,0 1 0,0 0 1]" showAxisSizeFactor="2" />
<FixedProjectiveConstraint template="Rigid3" name="fixOrigin" indices="4" />
<!-- SELF SUPPORT -->
<!--
<GearSpringForceField template="Rigid3" name="gear1" showFactorSize='5' spring="BEGIN_SPRING 0 0 2 2 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2 END_SPRING" />
<GearSpringForceField template="Rigid3" name="gear2" showFactorSize='5' spring="BEGIN_SPRING 0 0 1 1 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO -1.5385 END_SPRING" />
<GearSpringForceField template="Rigid3" name="gear3" showFactorSize='5' spring="BEGIN_SPRING 1 1 3 3 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2.166667 END_SPRING" />
-->
<!-- EXTERNAL SUPPORT -->
<Node name="Gear">
<MechanicalObject template="Rigid3" name="attaches" rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 -1.161 0 1.706 0 0.194787 0 0.980846 -6.7 4 1.706 0 0 0.707107 0.707107 1.790 0 -5.503 0 0.229019 0 0.973422 -6.7 5.2 -3.5 0 0 0.707107 0.707107" restScale="1" />
<RigidMapping template="Rigid3,Rigid3" input="@.." output="@." rigidIndexPerPoint="1 1 1 1 4" />
<GearSpringForceField template="Rigid3" name="springs" showFactorSize="5" spring="BEGIN_SPRING 4 0 6 2 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2 END_SPRING
																							 BEGIN_SPRING 4 0 5 1 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO -1.5385 END_SPRING
																							 BEGIN_SPRING 5 1 7 3 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2.166667 END_SPRING" />
</Node>
<Node name="0">
<MeshOBJLoader name="MeshLoader" filename="mesh/gear0.obj" />
<MeshTopology src="@MeshLoader" />
<MechanicalObject name="PointSet" />
<TriangleCollisionModel />
<RigidMapping template="Rigid3,Vec3" index="0" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/gear0.obj" handleSeams="1" />
<OglModel template="Vec3" name="Visual" src="@meshLoader_1" />
<IdentityMapping template="Vec3,Vec3" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="1">
<MeshOBJLoader name="MeshLoader" filename="mesh/gear1.obj" />
<MeshTopology src="@MeshLoader" />
<MechanicalObject name="PointSet" />
<TriangleCollisionModel />
<RigidMapping template="Rigid3,Vec3" index="1" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/gear1.obj" handleSeams="1" />
<OglModel template="Vec3" name="Visual" src="@meshLoader_3" />
<IdentityMapping template="Vec3,Vec3" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="2">
<MeshOBJLoader name="MeshLoader" filename="mesh/gear2.obj" />
<MeshTopology src="@MeshLoader" />
<MechanicalObject name="PointSet" />
<TriangleCollisionModel />
<RigidMapping template="Rigid3,Vec3" index="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/gear2.obj" handleSeams="1" />
<OglModel template="Vec3" name="Visual" src="@meshLoader_0" />
<IdentityMapping template="Vec3,Vec3" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="3">
<MeshOBJLoader name="MeshLoader" filename="mesh/gear3.obj" />
<MeshTopology src="@MeshLoader" />
<MechanicalObject name="PointSet" />
<TriangleCollisionModel />
<RigidMapping template="Rigid3,Vec3" index="3" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/gear3.obj" handleSeams="1" />
<OglModel template="Vec3" name="Visual" src="@meshLoader_2" />
<IdentityMapping template="Vec3,Vec3" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="support">
<MeshOBJLoader name="MeshLoader" filename="mesh/gearsupport.obj" />
<MeshTopology src="@MeshLoader" />
<MechanicalObject name="PointSet" />
<TriangleCollisionModel />
<RigidMapping template="Rigid3,Vec3" index="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/gearsupport.obj" handleSeams="1" />
<OglModel template="Vec3" name="Visual" src="@meshLoader_4" material="Default Diffuse 1 1 1 0.8 1 Ambient 1 0.2 0.2 0.2 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
<IdentityMapping template="Vec3,Vec3" input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 0 0", dt="0.01", time="0")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
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.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
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('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showVisual")
root.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('CGLinearSolver', name="linear solver", iterations="50", tolerance="1e-009", threshold="1e-009")
root.addObject('MechanicalObject', template="Rigid3", name="DOFs", rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1", position="-1.161 0 1.706 0 0.194787 0 0.980846
-6.7 4 1.706 0 0 0.707107 0.707107
1.790 0 -5.503 0 0.229019 0 0.973422
-6.7 5.2 -3.5 0 0 0.707107 0.707107
0 0 0 0 0 0 1", restScale="1")
root.addObject('UniformMass', name="mass", vertexMass="50 50 [1 0 0,0 1 0,0 0 1]", showAxisSizeFactor="2")
root.addObject('FixedProjectiveConstraint', template="Rigid3", name="fixOrigin", indices="4")
gear = root.addChild('Gear')
gear.addObject('MechanicalObject', template="Rigid3", name="attaches", rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 0 0 1 -1.161 0 1.706 0 0.194787 0 0.980846 -6.7 4 1.706 0 0 0.707107 0.707107 1.790 0 -5.503 0 0.229019 0 0.973422 -6.7 5.2 -3.5 0 0 0.707107 0.707107", restScale="1")
gear.addObject('RigidMapping', template="Rigid3,Rigid3", input="@..", output="@.", rigidIndexPerPoint="1 1 1 1 4")
gear.addObject('GearSpringForceField', template="Rigid3", name="springs", showFactorSize="5", spring="BEGIN_SPRING 4 0 6 2 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2 END_SPRING
BEGIN_SPRING 4 0 5 1 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO -1.5385 END_SPRING
BEGIN_SPRING 5 1 7 3 AXIS 1 1 KS_T 2000000 KS_R 2000000 2000000 KD 1 RATIO 2.166667 END_SPRING")
0 = root.addChild('0')
0.addObject('MeshOBJLoader', name="MeshLoader", filename="mesh/gear0.obj")
0.addObject('MeshTopology', src="@MeshLoader")
0.addObject('MechanicalObject', name="PointSet")
0.addObject('TriangleCollisionModel', )
0.addObject('RigidMapping', template="Rigid3,Vec3", index="0")
visu = 0.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/gear0.obj", handleSeams="1")
visu.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_1")
visu.addObject('IdentityMapping', template="Vec3,Vec3", input="@..", output="@Visual")
1 = root.addChild('1')
1.addObject('MeshOBJLoader', name="MeshLoader", filename="mesh/gear1.obj")
1.addObject('MeshTopology', src="@MeshLoader")
1.addObject('MechanicalObject', name="PointSet")
1.addObject('TriangleCollisionModel', )
1.addObject('RigidMapping', template="Rigid3,Vec3", index="1")
visu = 1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/gear1.obj", handleSeams="1")
visu.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_3")
visu.addObject('IdentityMapping', template="Vec3,Vec3", input="@..", output="@Visual")
2 = root.addChild('2')
2.addObject('MeshOBJLoader', name="MeshLoader", filename="mesh/gear2.obj")
2.addObject('MeshTopology', src="@MeshLoader")
2.addObject('MechanicalObject', name="PointSet")
2.addObject('TriangleCollisionModel', )
2.addObject('RigidMapping', template="Rigid3,Vec3", index="2")
visu = 2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/gear2.obj", handleSeams="1")
visu.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_0")
visu.addObject('IdentityMapping', template="Vec3,Vec3", input="@..", output="@Visual")
3 = root.addChild('3')
3.addObject('MeshOBJLoader', name="MeshLoader", filename="mesh/gear3.obj")
3.addObject('MeshTopology', src="@MeshLoader")
3.addObject('MechanicalObject', name="PointSet")
3.addObject('TriangleCollisionModel', )
3.addObject('RigidMapping', template="Rigid3,Vec3", index="3")
visu = 3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/gear3.obj", handleSeams="1")
visu.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_2")
visu.addObject('IdentityMapping', template="Vec3,Vec3", input="@..", output="@Visual")
support = root.addChild('support')
support.addObject('MeshOBJLoader', name="MeshLoader", filename="mesh/gearsupport.obj")
support.addObject('MeshTopology', src="@MeshLoader")
support.addObject('MechanicalObject', name="PointSet")
support.addObject('TriangleCollisionModel', )
support.addObject('RigidMapping', template="Rigid3,Vec3", index="4")
visu = support.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/gearsupport.obj", handleSeams="1")
visu.addObject('OglModel', template="Vec3", name="Visual", src="@meshLoader_4", material="Default Diffuse 1 1 1 0.8 1 Ambient 1 0.2 0.2 0.2 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
visu.addObject('IdentityMapping', template="Vec3,Vec3", input="@..", output="@Visual")