MeshSpringForceField
Spring force field acting along the edges of a mesh.
Vec1d
Templates:
- Vec1d
Target: Sofa.Component.SolidMechanics.Spring
namespace: sofa::component::solidmechanics::spring
parents:
- SpringForceField
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 |
| damping | uniform damping for the all springs | 5 |
| stiffness | uniform stiffness for the all springs | 100 |
| spring | pairs of indices, stiffness, damping, rest length | |
| lengths | List of lengths to create the springs. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere | |
| elongationOnly | ///< List of boolean stating on the fact that the spring should only apply forces on elongations. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, False will be applied everywhere | 0 |
| enabled | ///< List of boolean stating on the fact that the spring is enabled. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, True will be applied everywhere | 1 |
| springsIndices1 | List of indices in springs from the first mstate | |
| springsIndices2 | List of indices in springs from the second mstate | |
| linesStiffness | Stiffness for the Lines | 0 |
| linesDamping | Damping for the Lines | 0 |
| trianglesStiffness | Stiffness for the Triangles | 0 |
| trianglesDamping | Damping for the Triangles | 0 |
| quadsStiffness | Stiffness for the Quads | 0 |
| quadsDamping | Damping for the Quads | 0 |
| tetrahedraStiffness | Stiffness for the Tetrahedra | 0 |
| tetrahedraDamping | Damping for the Tetrahedra | 0 |
| cubesStiffness | Stiffness for the Cubes | 0 |
| cubesDamping | Damping for the Cubes | 0 |
| noCompression | Only consider elongation | 0 |
| localRange | optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) | 4294967295 4294967295 |
| Visualization | ||
| showArrowSize | size of the axis | 0.01 |
| drawMode | The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow | 0 |
| drawMinElongationRange | Min range of elongation (red eongation - blue neutral - green compression) | 8 |
| drawMaxElongationRange | Max range of elongation (red eongation - blue neutral - green compression) | 15 |
| drawSpringSize | Size of drawed lines | 8 |
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<Vec1d> |
| object2 | Second object associated to this component | MechanicalState<Vec1d> |
| topology | link to the topology container | BaseMeshTopology |
Vec2d
Templates:
- Vec2d
Target: Sofa.Component.SolidMechanics.Spring
namespace: sofa::component::solidmechanics::spring
parents:
- SpringForceField
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 |
| damping | uniform damping for the all springs | 5 |
| stiffness | uniform stiffness for the all springs | 100 |
| spring | pairs of indices, stiffness, damping, rest length | |
| lengths | List of lengths to create the springs. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere | |
| elongationOnly | ///< List of boolean stating on the fact that the spring should only apply forces on elongations. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, False will be applied everywhere | 0 |
| enabled | ///< List of boolean stating on the fact that the spring is enabled. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, True will be applied everywhere | 1 |
| springsIndices1 | List of indices in springs from the first mstate | |
| springsIndices2 | List of indices in springs from the second mstate | |
| linesStiffness | Stiffness for the Lines | 0 |
| linesDamping | Damping for the Lines | 0 |
| trianglesStiffness | Stiffness for the Triangles | 0 |
| trianglesDamping | Damping for the Triangles | 0 |
| quadsStiffness | Stiffness for the Quads | 0 |
| quadsDamping | Damping for the Quads | 0 |
| tetrahedraStiffness | Stiffness for the Tetrahedra | 0 |
| tetrahedraDamping | Damping for the Tetrahedra | 0 |
| cubesStiffness | Stiffness for the Cubes | 0 |
| cubesDamping | Damping for the Cubes | 0 |
| noCompression | Only consider elongation | 0 |
| localRange | optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) | 4294967295 4294967295 |
| Visualization | ||
| showArrowSize | size of the axis | 0.01 |
| drawMode | The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow | 0 |
| drawMinElongationRange | Min range of elongation (red eongation - blue neutral - green compression) | 8 |
| drawMaxElongationRange | Max range of elongation (red eongation - blue neutral - green compression) | 15 |
| drawSpringSize | Size of drawed lines | 8 |
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<Vec2d> |
| object2 | Second object associated to this component | MechanicalState<Vec2d> |
| topology | link to the topology container | BaseMeshTopology |
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.SolidMechanics.Spring
namespace: sofa::component::solidmechanics::spring
parents:
- SpringForceField
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 |
| damping | uniform damping for the all springs | 5 |
| stiffness | uniform stiffness for the all springs | 100 |
| spring | pairs of indices, stiffness, damping, rest length | |
| lengths | List of lengths to create the springs. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere | |
| elongationOnly | ///< List of boolean stating on the fact that the spring should only apply forces on elongations. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, False will be applied everywhere | 0 |
| enabled | ///< List of boolean stating on the fact that the spring is enabled. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, True will be applied everywhere | 1 |
| springsIndices1 | List of indices in springs from the first mstate | |
| springsIndices2 | List of indices in springs from the second mstate | |
| linesStiffness | Stiffness for the Lines | 0 |
| linesDamping | Damping for the Lines | 0 |
| trianglesStiffness | Stiffness for the Triangles | 0 |
| trianglesDamping | Damping for the Triangles | 0 |
| quadsStiffness | Stiffness for the Quads | 0 |
| quadsDamping | Damping for the Quads | 0 |
| tetrahedraStiffness | Stiffness for the Tetrahedra | 0 |
| tetrahedraDamping | Damping for the Tetrahedra | 0 |
| cubesStiffness | Stiffness for the Cubes | 0 |
| cubesDamping | Damping for the Cubes | 0 |
| noCompression | Only consider elongation | 0 |
| localRange | optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) | 4294967295 4294967295 |
| Visualization | ||
| showArrowSize | size of the axis | 0.01 |
| drawMode | The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow | 0 |
| drawMinElongationRange | Min range of elongation (red eongation - blue neutral - green compression) | 8 |
| drawMaxElongationRange | Max range of elongation (red eongation - blue neutral - green compression) | 15 |
| drawSpringSize | Size of drawed lines | 8 |
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<Vec3d> |
| object2 | Second object associated to this component | MechanicalState<Vec3d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
MeshSpringForceField.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 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 [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.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
<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] -->
<DefaultAnimationLoop/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="ChainSpring">
<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="TorusSpring1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" translation="2.5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="1000" tetrasDamping="0" />
<Node name="Visu1">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" translation="2.5 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="green"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf1">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" translation="2.5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring2">
<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" translation="5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="200" tetrasDamping="0" />
<Node name="Visu2">
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" translation="5 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="blue"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" translation="5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring3">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" translation="7.5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="0.5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="0" />
<Node name="Visu3">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" translation="7.5 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="green"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf3">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" translation="7.5 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring4">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" translation="10 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<UniformMass totalMass="0.5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="0" />
<Node name="Visu4">
<MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" translation="10 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="red"/>
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf4">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" translation="10 0 0"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", gravity="0 -9 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.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.Spring")
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('DefaultAnimationLoop', )
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
chain_spring = root.addChild('ChainSpring')
torus_fixed = ChainSpring.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_spring1 = ChainSpring.addChild('TorusSpring1')
torus_spring1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
torus_spring1.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_spring1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", translation="2.5 0 0")
torus_spring1.addObject('MeshTopology', src="@loader")
torus_spring1.addObject('MechanicalObject', src="@loader")
torus_spring1.addObject('UniformMass', totalMass="5")
torus_spring1.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="1000", tetrasDamping="0")
visu1 = TorusSpring1.addChild('Visu1')
visu1.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", translation="2.5 0 0", handleSeams="1")
visu1.addObject('OglModel', name="Visual", src="@meshLoader_0", color="green")
visu1.addObject('BarycentricMapping', input="@..", output="@Visual")
surf1 = TorusSpring1.addChild('Surf1')
surf1.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", translation="2.5 0 0")
surf1.addObject('MeshTopology', src="@loader")
surf1.addObject('MechanicalObject', src="@loader")
surf1.addObject('TriangleCollisionModel', )
surf1.addObject('BarycentricMapping', )
torus_spring2 = ChainSpring.addChild('TorusSpring2')
torus_spring2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_spring2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_spring2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh", translation="5 0 0")
torus_spring2.addObject('MeshTopology', src="@loader")
torus_spring2.addObject('MechanicalObject', src="@loader")
torus_spring2.addObject('UniformMass', totalMass="5")
torus_spring2.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="200", tetrasDamping="0")
visu2 = TorusSpring2.addChild('Visu2')
visu2.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", translation="5 0 0", handleSeams="1")
visu2.addObject('OglModel', name="Visual", src="@meshLoader_2", color="blue")
visu2.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj", translation="5 0 0")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_spring3 = ChainSpring.addChild('TorusSpring3')
torus_spring3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_spring3.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_spring3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", translation="7.5 0 0")
torus_spring3.addObject('MeshTopology', src="@loader")
torus_spring3.addObject('MechanicalObject', src="@loader")
torus_spring3.addObject('UniformMass', totalMass="0.5")
torus_spring3.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="0")
visu3 = TorusSpring3.addChild('Visu3')
visu3.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", translation="7.5 0 0", handleSeams="1")
visu3.addObject('OglModel', name="Visual", src="@meshLoader_1", color="green")
visu3.addObject('BarycentricMapping', input="@..", output="@Visual")
surf3 = TorusSpring3.addChild('Surf3')
surf3.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", translation="7.5 0 0")
surf3.addObject('MeshTopology', src="@loader")
surf3.addObject('MechanicalObject', src="@loader")
surf3.addObject('TriangleCollisionModel', )
surf3.addObject('BarycentricMapping', )
torus_spring4 = ChainSpring.addChild('TorusSpring4')
torus_spring4.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_spring4.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_spring4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh", translation="10 0 0")
torus_spring4.addObject('MeshTopology', src="@loader")
torus_spring4.addObject('MechanicalObject', src="@loader")
torus_spring4.addObject('UniformMass', totalMass="0.5")
torus_spring4.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="0")
visu4 = TorusSpring4.addChild('Visu4')
visu4.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus2.obj", translation="10 0 0", handleSeams="1")
visu4.addObject('OglModel', name="Visual", src="@meshLoader_4", color="red")
visu4.addObject('BarycentricMapping', input="@..", output="@Visual")
surf4 = TorusSpring4.addChild('Surf4')
surf4.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj", translation="10 0 0")
surf4.addObject('MeshTopology', src="@loader")
surf4.addObject('MechanicalObject', src="@loader")
surf4.addObject('TriangleCollisionModel', )
surf4.addObject('BarycentricMapping', )
MeshSpringForceField_beam10x10x40_cpu.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 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.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<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 [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [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 [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showBehaviorModels" />
<DefaultAnimationLoop/>
<DefaultVisualManagerLoop/>
<CollisionPipeline depth="6" verbose="0" draw="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="MeshSpringForceField-CPU-Red">
<EulerImplicitSolver name="cg_odesolver" printLog="0" />
<CGLinearSolver name="linear solver" iterations="20" tolerance="1e-06" threshold="1e-06" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="Vec3"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<UniformMass totalMass="100" />
<MeshSpringForceField name="Springs" tetrasStiffness="1200" tetrasDamping="0" template="Vec3"/>
<Node name="MeshVisu">
<OglModel name="Visual" topology="@../Container" position="@../Volume.position" color="red"/>
<IdentityMapping input="@../Volume" output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", gravity="0 -9 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.Engine.Select")
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.Spring")
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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels")
root.addObject('DefaultAnimationLoop', )
root.addObject('DefaultVisualManagerLoop', )
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
mesh_spring_force_field__cpu__red = root.addChild('MeshSpringForceField-CPU-Red')
mesh_spring_force_field__cpu__red.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0")
mesh_spring_force_field__cpu__red.addObject('CGLinearSolver', name="linear solver", iterations="20", tolerance="1e-06", threshold="1e-06")
mesh_spring_force_field__cpu__red.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="Vec3")
mesh_spring_force_field__cpu__red.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
mesh_spring_force_field__cpu__red.addObject('TetrahedronSetTopologyModifier', name="Modifier")
mesh_spring_force_field__cpu__red.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
mesh_spring_force_field__cpu__red.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
mesh_spring_force_field__cpu__red.addObject('UniformMass', totalMass="100")
mesh_spring_force_field__cpu__red.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="1200", tetrasDamping="0", template="Vec3")
mesh_visu = MeshSpringForceField-CPU-Red.addChild('MeshVisu')
mesh_visu.addObject('OglModel', name="Visual", topology="@../Container", position="@../Volume.position", color="red")
mesh_visu.addObject('IdentityMapping', input="@../Volume", output="@Visual")
MeshSpringForceField_beam10x10x40_gpu.scn
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 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.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 [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 [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BoxROI FixedProjectiveConstraint IdentityMapping MechanicalObject MeshSpringForceField UniformMass] -->
<VisualStyle displayFlags="showBehaviorModels" />
<DefaultAnimationLoop/>
<DefaultVisualManagerLoop/>
<CollisionPipeline depth="6" verbose="0" draw="0"/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="Beam">
<RegularGridTopology name="grid" n="40 10 10" min="0 6 -2" max="16 10 2" />
<TetrahedronSetTopologyContainer name="BeamTopo" />
<TetrahedronSetTopologyModifier name="Modifier" />
<Hexa2TetraTopologicalMapping input="@grid" output="@BeamTopo" />
</Node>
<Node name="MeshSpringForceField-GPU-Green">
<EulerImplicitSolver name="cg_odesolver" printLog="0" />
<CGLinearSolver name="linear solver" iterations="20" tolerance="1e-06" threshold="1e-06" />
<MechanicalObject position="@../Beam/grid.position" name="Volume" template="CudaVec3f"/>
<TetrahedronSetTopologyContainer name="Container" src="@../Beam/BeamTopo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<BoxROI name="ROI1" box="-0.1 5 -3 0.1 11 3" drawBoxes="1" />
<FixedProjectiveConstraint indices="@ROI1.indices" />
<UniformMass totalMass="100" />
<MeshSpringForceField name="Springs" tetrasStiffness="1200" tetrasDamping="0" template="CudaVec3f"/>
<Node name="MeshVisu">
<OglModel name="Visual" topology="@../Container" position="@../Volume.position" color="green"/>
<IdentityMapping input="@../Volume" output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", gravity="0 -9 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.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.Topology.Mapping")
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")
root.addObject('DefaultAnimationLoop', )
root.addObject('DefaultVisualManagerLoop', )
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
beam = root.addChild('Beam')
beam.addObject('RegularGridTopology', name="grid", n="40 10 10", min="0 6 -2", max="16 10 2")
beam.addObject('TetrahedronSetTopologyContainer', name="BeamTopo")
beam.addObject('TetrahedronSetTopologyModifier', name="Modifier")
beam.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@BeamTopo")
mesh_spring_force_field__gpu__green = root.addChild('MeshSpringForceField-GPU-Green')
mesh_spring_force_field__gpu__green.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0")
mesh_spring_force_field__gpu__green.addObject('CGLinearSolver', name="linear solver", iterations="20", tolerance="1e-06", threshold="1e-06")
mesh_spring_force_field__gpu__green.addObject('MechanicalObject', position="@../Beam/grid.position", name="Volume", template="CudaVec3f")
mesh_spring_force_field__gpu__green.addObject('TetrahedronSetTopologyContainer', name="Container", src="@../Beam/BeamTopo")
mesh_spring_force_field__gpu__green.addObject('TetrahedronSetTopologyModifier', name="Modifier")
mesh_spring_force_field__gpu__green.addObject('BoxROI', name="ROI1", box="-0.1 5 -3 0.1 11 3", drawBoxes="1")
mesh_spring_force_field__gpu__green.addObject('FixedProjectiveConstraint', indices="@ROI1.indices")
mesh_spring_force_field__gpu__green.addObject('UniformMass', totalMass="100")
mesh_spring_force_field__gpu__green.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="1200", tetrasDamping="0", template="CudaVec3f")
mesh_visu = MeshSpringForceField-GPU-Green.addChild('MeshVisu')
mesh_visu.addObject('OglModel', name="Visual", topology="@../Container", position="@../Volume.position", color="green")
mesh_visu.addObject('IdentityMapping', input="@../Volume", output="@Visual")