JointSpringForceField
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 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 |
| outfile | output file name | |
| infile | input file containing constant joint force | |
| period | period between outputs | 0 |
| reinit | flag enabling reinitialization of the output file at each timestep | 0 |
| spring | pairs of indices, stiffness, damping, rest length | |
| Visualization | ||
| showLawfulTorsion | display the lawful part of the joint rotation | 0 |
| showExtraTorsion | display the illicit part of the joint rotation | 0 |
| 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
JointSpringForceField.scn
<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" time="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.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.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 [JointSpringForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<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 showBehaviorModels showForceFields showCollisionModels showMechanicalMappings" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default41" response="PenalityContactForceField" />
<CollisionPipeline name="default42" />
<MinProximityIntersection name="default43" alarmDistance="1" contactDistance="0.5"/>
<Node name="default44" gravity="0 -9.81 0">
<EulerImplicitSolver name="cg_odesolver" printLog="0" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="25" tolerance="1e-009" threshold="1e-009" />
<MechanicalObject template="Rigid3" name="DOFs" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" restScale="1" />
<UniformMass name="mass" vertexMass="1 1 [1 0 0,0 1 0,0 0 1]" />
<FixedProjectiveConstraint template="Rigid3" name="fixOrigin" indices="0" />
<Node name="default45" gravity="0 -9.81 0">
<MechanicalObject template="Rigid3" name="attaches" position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" restScale="1" />
<RigidMapping template="Rigid3,Rigid3" name="default46" input="@.." output="@." rigidIndexPerPoint="1 2 2 2 2" />
<JointSpringForceField template="Rigid3" name="joint springs" spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
 BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
" />
</Node>
<Node name="Visu" gravity="0 -9.81 0">
<OglModel template="Vec3" name="Visual" position="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5" vertices="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5" triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 " />
<RigidMapping template="Rigid3,Vec3" name="default60" mapForces="0" mapConstraints="0" mapMasses="0" input="@.." output="@Visual" rigidIndexPerPoint="0 8 8 8 8" />
</Node>
</Node>
</Node>
```python def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01", time="0")
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.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.Visual") root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D") root.addObject('DefaultAnimationLoop', ) root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showForceFields showCollisionModels showMechanicalMappings") root.addObject('BruteForceBroadPhase', ) root.addObject('BVHNarrowPhase', ) root.addObject('CollisionResponse', name="default41", response="PenalityContactForceField") root.addObject('CollisionPipeline', name="default42") root.addObject('MinProximityIntersection', name="default43", alarmDistance="1", contactDistance="0.5")
default44 = root.addChild('default44', gravity="0 -9.81 0")
default44.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1") default44.addObject('CGLinearSolver', template="GraphScattered", name="linear solver", iterations="25", tolerance="1e-009", threshold="1e-009") default44.addObject('MechanicalObject', template="Rigid3", name="DOFs", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 3 0 0 0 0 0 1 5 0 0 0 0 0 1 7 0 0 0 0 0 1", velocity="0 0 0 0 0 0", force="0 0 0 0 0 0", externalForce="0 0 0 0 0 0", derivX="0 0 0 0 0 0", restScale="1") default44.addObject('UniformMass', name="mass", vertexMass="1 1 [1 0 0,0 1 0,0 0 1]") default44.addObject('FixedProjectiveConstraint', template="Rigid3", name="fixOrigin", indices="0")
default45 = default44.addChild('default45', gravity="0 -9.81 0")
default45.addObject('MechanicalObject', template="Rigid3", name="attaches", position="0 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914 -1 0 0 0.707914 0 0 0.707914 1 0 0 0.707914 0 0 0.707914", velocity="0 0 0 0 0 0", force="0 0 0 0 0 0", externalForce="0 0 0 0 0 0", derivX="0 0 0 0 0 0", restScale="1") default45.addObject('RigidMapping', template="Rigid3,Rigid3", name="default46", input="@..", output="@.", rigidIndexPerPoint="1 2 2 2 2") default45.addObject('JointSpringForceField', template="Rigid3", name="joint springs", spring="BEGIN_SPRING 0 1 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING
BEGIN_SPRING 2 3 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 4 5 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING BEGIN_SPRING 6 7 FREE_AXIS 0 0 0 0 1 0 KS_T 0 30000 KS_R 0 200000 KD 1 R_LIM_X -0.8 0.8 R_LIM_Y -1.57 1.57 R_LIM_Z 0 0 END_SPRING ")
visu = default44.addChild('Visu', gravity="0 -9.81 0")
visu.addObject('OglModel', template="Vec3", name="Visual", position="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5", vertices="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5", triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24 ")
visu.addObject('RigidMapping', template="Rigid3,Vec3", name="default60", mapForces="0", mapConstraints="0", mapMasses="0", input="@..", output="@Visual", rigidIndexPerPoint="0 8 8 8 8")
```