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TriangleBendingSprings

Springs added to a triangular mesh to prevent bending.

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 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
stiffness uniform stiffness for the all springs 100
damping uniform damping for the all springs 5
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
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>
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 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
stiffness uniform stiffness for the all springs 100
damping uniform damping for the all springs 5
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
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>
topology link to the topology container BaseMeshTopology

Examples

TriangleBendingSprings.scn

<!-- Mechanical MassSpring Group Basic Example -->
<Node name="root" gravity="0 0 1" dt="0.05">
    <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 [DiscreteIntersection] -->
    <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <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.FEM.Elastic"/> <!-- Needed to use components [TriangleFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangleBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings showVisual" />
    <CollisionPipeline verbose="0" name="CollisionPipeline" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" name="collision response" />
    <DiscreteIntersection />
    <DefaultAnimationLoop/>

    <Node name="M1">
        <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 />
        <UniformMass vertexMass="0.1" />
        <RegularGridTopology nx="3" ny="3" nz="1" xmin="10" xmax="19" ymin="0" ymax="9" zmin="4" zmax="5" />
        <FixedProjectiveConstraint indices="0 8" />
        <TriangleFEMForceField name="FEM1" youngModulus="5000" poissonRatio="0.3" method="large" />
        <TriangleBendingSprings name="FEM-Bend" stiffness="100" damping="0.1" />
        <TriangleCollisionModel />
        <Node name="Visu">
            <OglModel name="Visual" color="green" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="M2">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MechanicalObject />
        <UniformMass vertexMass="0.1" />
        <RegularGridTopology nx="4" ny="4" nz="1" xmin="20" xmax="29" ymin="0" ymax="9" zmin="8" zmax="9" />
        <FixedProjectiveConstraint indices="0 15" />
        <TriangleFEMForceField name="FEM2" youngModulus="5000" poissonRatio="0.3" method="large" />
        <TriangleBendingSprings name="FEM-Bend" stiffness="100" damping="0.1" />
        <TriangleCollisionModel />
        <Node name="Visu">
            <OglModel name="Visual" color="blue" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="M3">
        <EulerImplicitSolver name="cg_odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MechanicalObject />
        <UniformMass vertexMass="0.1" />
        <RegularGridTopology nx="10" ny="10" nz="1" xmin="30" xmax="39" ymin="0" ymax="9" zmin="12" zmax="13" />
        <FixedProjectiveConstraint indices="0 9 99" />
        <TriangleFEMForceField name="FEM3" youngModulus="5000" poissonRatio="0.3" method="large" />
        <TriangleBendingSprings name="FEM-Bend" stiffness="100" damping="0.1" />
        <TriangleCollisionModel />
        <Node name="Visu">
            <OglModel name="Visual" color="yellow" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 0 1", dt="0.05")

   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.Constraint.Projective")
   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.FEM.Elastic")
   root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings showVisual")
   root.addObject('CollisionPipeline', verbose="0", name="CollisionPipeline")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField", name="collision response")
   root.addObject('DiscreteIntersection', )
   root.addObject('DefaultAnimationLoop', )

   m1 = root.addChild('M1')

   m1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   m1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   m1.addObject('MechanicalObject', )
   m1.addObject('UniformMass', vertexMass="0.1")
   m1.addObject('RegularGridTopology', nx="3", ny="3", nz="1", xmin="10", xmax="19", ymin="0", ymax="9", zmin="4", zmax="5")
   m1.addObject('FixedProjectiveConstraint', indices="0 8")
   m1.addObject('TriangleFEMForceField', name="FEM1", youngModulus="5000", poissonRatio="0.3", method="large")
   m1.addObject('TriangleBendingSprings', name="FEM-Bend", stiffness="100", damping="0.1")
   m1.addObject('TriangleCollisionModel', )

   visu = M1.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="green")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   m2 = root.addChild('M2')

   m2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   m2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   m2.addObject('MechanicalObject', )
   m2.addObject('UniformMass', vertexMass="0.1")
   m2.addObject('RegularGridTopology', nx="4", ny="4", nz="1", xmin="20", xmax="29", ymin="0", ymax="9", zmin="8", zmax="9")
   m2.addObject('FixedProjectiveConstraint', indices="0 15")
   m2.addObject('TriangleFEMForceField', name="FEM2", youngModulus="5000", poissonRatio="0.3", method="large")
   m2.addObject('TriangleBendingSprings', name="FEM-Bend", stiffness="100", damping="0.1")
   m2.addObject('TriangleCollisionModel', )

   visu = M2.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="blue")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")

   m3 = root.addChild('M3')

   m3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
   m3.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   m3.addObject('MechanicalObject', )
   m3.addObject('UniformMass', vertexMass="0.1")
   m3.addObject('RegularGridTopology', nx="10", ny="10", nz="1", xmin="30", xmax="39", ymin="0", ymax="9", zmin="12", zmax="13")
   m3.addObject('FixedProjectiveConstraint', indices="0 9 99")
   m3.addObject('TriangleFEMForceField', name="FEM3", youngModulus="5000", poissonRatio="0.3", method="large")
   m3.addObject('TriangleBendingSprings', name="FEM-Bend", stiffness="100", damping="0.1")
   m3.addObject('TriangleCollisionModel', )

   visu = M3.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="yellow")
   visu.addObject('IdentityMapping', input="@..", output="@Visual")