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RegularGridSpringForceField

Spring acting on the edges and faces of a regular grid.

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 Lines Stiffness 100
linesDamping Lines Damping 5
quadsStiffness Quads Stiffness 100
quadsDamping Quads Damping 5
cubesStiffness Cubes Stiffness 100
cubesDamping Cubes Damping 5
Visualization
showArrowSize size of the axis 0.01
drawMode The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow 0
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>

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 Lines Stiffness 100
linesDamping Lines Damping 5
quadsStiffness Quads Stiffness 100
quadsDamping Quads Damping 5
cubesStiffness Cubes Stiffness 100
cubesDamping Cubes Damping 5
Visualization
showArrowSize size of the axis 0.01
drawMode The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow 0
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>

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 Lines Stiffness 100
linesDamping Lines Damping 5
quadsStiffness Quads Stiffness 100
quadsDamping Quads Damping 5
cubesStiffness Cubes Stiffness 100
cubesDamping Cubes Damping 5
Visualization
showArrowSize size of the axis 0.01
drawMode The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow 0
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>

Vec6d

Templates:

  • Vec6d

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 Lines Stiffness 100
linesDamping Lines Damping 5
quadsStiffness Quads Stiffness 100
quadsDamping Quads Damping 5
cubesStiffness Cubes Stiffness 100
cubesDamping Cubes Damping 5
Visualization
showArrowSize size of the axis 0.01
drawMode The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow 0
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<Vec6d>
object2 Second object associated to this component MechanicalState<Vec6d>

Examples

RegularGridSpringForceField.scn

<Node name="root" dt="0.02">
    <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 [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 [RegularGridSpringForceField] -->
    <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 [RegularGridTopology] -->
    <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" />
    <DefaultAnimationLoop/>

    <Node name="Chain">
        <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="TorusFFD1">
            <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" />
            <MechanicalObject translation="2.5 0 0" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_4" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_4" dx="2.5" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" translation="2.5 0 0" />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFFD2">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MechanicalObject dx="5" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" dx="5" color="yellow" />
                <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="TorusFFD3">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MechanicalObject dx="7.5" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_2" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_2" dx="7.5" color="yellow" />
                <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 name="TorusFFD4">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MechanicalObject dx="10" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_0" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_0" dx="10" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="10" />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02")

   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.Component.Topology.Container.Grid")
   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")
   root.addObject('DefaultAnimationLoop', )

   chain = root.addChild('Chain')

   torus_fixed = Chain.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_ffd1 = Chain.addChild('TorusFFD1')

   torus_ffd1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   torus_ffd1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_ffd1.addObject('MechanicalObject', translation="2.5 0 0")
   torus_ffd1.addObject('UniformMass', totalMass="5")
   torus_ffd1.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
   torus_ffd1.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

   visu = TorusFFD1.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_4", dx="2.5", color="yellow")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   surf2 = TorusFFD1.addChild('Surf2')

   surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
   surf2.addObject('MeshTopology', src="@loader")
   surf2.addObject('MechanicalObject', src="@loader", translation="2.5 0 0")
   surf2.addObject('TriangleCollisionModel', )
   surf2.addObject('BarycentricMapping', )

   torus_ffd2 = Chain.addChild('TorusFFD2')

   torus_ffd2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   torus_ffd2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_ffd2.addObject('MechanicalObject', dx="5")
   torus_ffd2.addObject('UniformMass', totalMass="5")
   torus_ffd2.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
   torus_ffd2.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

   visu = TorusFFD2.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", dx="5", color="yellow")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   surf2 = TorusFFD2.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_ffd3 = Chain.addChild('TorusFFD3')

   torus_ffd3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   torus_ffd3.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_ffd3.addObject('MechanicalObject', dx="7.5")
   torus_ffd3.addObject('UniformMass', totalMass="5")
   torus_ffd3.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
   torus_ffd3.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

   visu = TorusFFD3.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_2", dx="7.5", color="yellow")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   surf2 = TorusFFD3.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', )

   torus_ffd4 = Chain.addChild('TorusFFD4')

   torus_ffd4.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   torus_ffd4.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   torus_ffd4.addObject('MechanicalObject', dx="10")
   torus_ffd4.addObject('UniformMass', totalMass="5")
   torus_ffd4.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
   torus_ffd4.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

   visu = TorusFFD4.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus2.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_0", dx="10", color="yellow")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   surf2 = TorusFFD4.addChild('Surf2')

   surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
   surf2.addObject('MeshTopology', src="@loader")
   surf2.addObject('MechanicalObject', src="@loader", dx="10")
   surf2.addObject('TriangleCollisionModel', )
   surf2.addObject('BarycentricMapping', )