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TriangularBiquadraticSpringsForceField

Biquadratic Springs on a Triangular Mesh.

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.SolidMechanics.Spring

namespace: sofa::component::solidmechanics::spring

parents:

  • ForceField

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
triangleInfo Internal triangle data
edgeInfo Internal edge data
initialPoints Initial Position
poissonRatio Poisson ratio in Hooke's law 0.3
youngModulus Young modulus in Hooke's law 1000
dampingRatio Ratio damping/stiffness 0
useAngularSprings If Angular Springs should be used or not 1
compressible If additional energy penalizing compressibility should be used 1
matrixRegularization Regularization of the Stiffnes Matrix (between 0 and 1) 0.4
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
mstate MechanicalState used by this component MechanicalState<Vec3d>
topology link to the topology container BaseMeshTopology

Examples

TriangularBiquadraticSpringsForceField.scn

<!-- TriangularBiquadraticSpringsForceField Basic Example -->
<Node name="root" dt="0.005" showBoundingTree="0" gravity="0 -9 1">
    <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.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.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <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 [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBiquadraticSpringsForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <VisualStyle displayFlags="showBehaviorModels showVisual" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultAnimationLoop/>

    <Node name="SquareGravity">
        <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" />
        <MeshGmshLoader name="loader" filename="mesh/square3.msh" createSubelements="1"/>
        <MechanicalObject src="@loader" scale="10" />
        <include href="Objects/TriangleSetTopology.xml" src="@loader" />
        <DiagonalMass massDensity="0.015" />
        <FixedProjectiveConstraint indices="0 1" />
        <TriangularBiquadraticSpringsForceField name="BQS" youngModulus="15" poissonRatio="0.9" useAngularSprings="1" dampingRatio="0.00" />
        <TriangleCollisionModel />

        <Node >
            <OglModel name="Visual" color="yellow" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.005", showBoundingTree="0", gravity="0 -9 1")

   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.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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('DefaultAnimationLoop', )

   square_gravity = root.addChild('SquareGravity')

   square_gravity.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   square_gravity.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   square_gravity.addObject('MeshGmshLoader', name="loader", filename="mesh/square3.msh", createSubelements="1")
   square_gravity.addObject('MechanicalObject', src="@loader", scale="10")
   square_gravity.addObject('include', href="Objects/TriangleSetTopology.xml", src="@loader")
   square_gravity.addObject('DiagonalMass', massDensity="0.015")
   square_gravity.addObject('FixedProjectiveConstraint', indices="0 1")
   square_gravity.addObject('TriangularBiquadraticSpringsForceField', name="BQS", youngModulus="15", poissonRatio="0.9", useAngularSprings="1", dampingRatio="0.00")
   square_gravity.addObject('TriangleCollisionModel', )

   node = SquareGravity.addChild('node')

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