TetrahedralTensorMassForceField
Linear Elastic Tetrahedral Mesh
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.SolidMechanics.TensorMass
namespace: sofa::component::solidmechanics::tensormass
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 |
| poissonRatio | Poisson ratio in Hooke's law | 0.3 |
| youngModulus | Young's modulus in Hooke's law | 1000 |
| edgeInfo | Internal edge data |
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 |
| mstate | MechanicalState used by this component | MechanicalState<Vec3d> |
| topology | link to the topology container | BaseMeshTopology |
Examples
TetrahedralTensorMassForceField.scn
<Node name="root">
<Node name="plugins">
<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.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT] -->
<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.TensorMass"/> <!-- Needed to use components [TetrahedralTensorMassForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping Hexa2TetraTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
</Node>
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<DefaultAnimationLoop name="animationLoop"/>
<DefaultVisualManagerLoop name="visualLoop"/>
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>
<MechanicalObject name="DoFs" />
<UniformMass name="mass" totalMass="320" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
<BoxROI name="box" box="-10 -1 -0.0001 -5 4 0.0001"/>
<FixedProjectiveConstraint indices="@box.indices" />
<TetrahedronSetTopologyContainer name="Tetra_topo"/>
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />
<TetrahedralTensorMassForceField name="deformable" youngModulus="100000" poissonRatio="0.4" />
<Node name="quads">
<QuadSetTopologyContainer name="Container" />
<QuadSetTopologyModifier name="Modifier" />
<QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<Hexa2QuadTopologicalMapping input="@../grid" output="@Container" />
<Node name="Visu">
<OglModel name="Visual" color="yellow" />
<IdentityMapping input="@../../DoFs" output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root')
plugins = root.addChild('plugins')
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.TensorMass")
plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('DefaultAnimationLoop', name="animationLoop")
root.addObject('DefaultVisualManagerLoop', name="visualLoop")
root.addObject('EulerImplicitSolver', name="odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
root.addObject('MechanicalObject', name="DoFs")
root.addObject('UniformMass', name="mass", totalMass="320")
root.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
root.addObject('BoxROI', name="box", box="-10 -1 -0.0001 -5 4 0.0001")
root.addObject('FixedProjectiveConstraint', indices="@box.indices")
root.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
root.addObject('TetrahedronSetTopologyModifier', name="Modifier")
root.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
root.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
root.addObject('TetrahedralTensorMassForceField', name="deformable", youngModulus="100000", poissonRatio="0.4")
quads = root.addChild('quads')
quads.addObject('QuadSetTopologyContainer', name="Container")
quads.addObject('QuadSetTopologyModifier', name="Modifier")
quads.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
quads.addObject('Hexa2QuadTopologicalMapping', input="@../grid", output="@Container")
visu = quads.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="yellow")
visu.addObject('IdentityMapping', input="@../../DoFs", output="@Visual")
TetrahedralTensorMassForceFieldCUDA.scn
<Node name="root" dt="0.01">
<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.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<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] -->
<RequiredPlugin name="SofaCUDA"/> <!-- Needed to use components [BarycentricMapping MechanicalObject TetrahedralTensorMassForceField UniformMass] -->
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="ChainFEM">
<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_2" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="gray" />
</Node>
<Node name="TorusTensorMass">
<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/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" template="CudaVec3f" />
<UniformMass totalMass="5" />
<TetrahedralTensorMassForceField name="FEM" youngModulus="1000" poissonRatio="0.4" atomicGPU="false" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="red" dx="2.5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM_POLAR">
<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" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="blue" dx="5" />
<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="TorusFEM_SVD">
<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/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="svd" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="yellow" dx="7.5" />
<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>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
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.FEM.Elastic")
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('RequiredPlugin', name="SofaCUDA")
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")
chain_fem = root.addChild('ChainFEM')
torus_fixed = ChainFEM.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_2", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_2", color="gray")
torus_tensor_mass = ChainFEM.addChild('TorusTensorMass')
torus_tensor_mass.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
torus_tensor_mass.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_tensor_mass.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_tensor_mass.addObject('MeshTopology', src="@loader")
torus_tensor_mass.addObject('MechanicalObject', src="@loader", dx="2.5", template="CudaVec3f")
torus_tensor_mass.addObject('UniformMass', totalMass="5")
torus_tensor_mass.addObject('TetrahedralTensorMassForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", atomicGPU="false")
visu = TorusTensorMass.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="red", dx="2.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusTensorMass.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem__polar = ChainFEM.addChild('TorusFEM_POLAR')
torus_fem__polar.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__polar.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__polar.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_fem__polar.addObject('MeshTopology', src="@loader")
torus_fem__polar.addObject('MechanicalObject', src="@loader", dx="5")
torus_fem__polar.addObject('UniformMass', totalMass="5")
torus_fem__polar.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="polar")
visu = TorusFEM_POLAR.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="blue", dx="5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_POLAR.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_fem__svd = ChainFEM.addChild('TorusFEM_SVD')
torus_fem__svd.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__svd.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__svd.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem__svd.addObject('MeshTopology', src="@loader")
torus_fem__svd.addObject('MechanicalObject', src="@loader", dx="7.5")
torus_fem__svd.addObject('UniformMass', totalMass="5")
torus_fem__svd.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="svd")
visu = TorusFEM_SVD.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="yellow", dx="7.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_SVD.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', )
TetrahedralTensorMassForceFieldCPU.scn
<Node name="root" dt="0.01">
<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.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.TensorMass"/> <!-- Needed to use components [TetrahedralTensorMassForceField] -->
<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] -->
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="ChainFEM">
<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="TorusTensorMass">
<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/torus_low_res.msh" createSubelements="true"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" template="Vec3d" />
<UniformMass totalMass="5" />
<TetrahedralTensorMassForceField name="FEM" youngModulus="1000" poissonRatio="0.4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="red" dx="2.5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<TriangleCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM_POLAR">
<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" createSubelements="true"/>
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="blue" dx="5" />
<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="TorusFEM_SVD">
<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/torus_low_res.msh" createSubelements="true" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" computeGlobalMatrix="false" method="svd" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="yellow" dx="7.5" />
<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>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01")
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.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.TensorMass")
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('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")
chain_fem = root.addChild('ChainFEM')
torus_fixed = ChainFEM.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_tensor_mass = ChainFEM.addChild('TorusTensorMass')
torus_tensor_mass.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
torus_tensor_mass.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_tensor_mass.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", createSubelements="true")
torus_tensor_mass.addObject('MeshTopology', src="@loader")
torus_tensor_mass.addObject('MechanicalObject', src="@loader", dx="2.5", template="Vec3d")
torus_tensor_mass.addObject('UniformMass', totalMass="5")
torus_tensor_mass.addObject('TetrahedralTensorMassForceField', name="FEM", youngModulus="1000", poissonRatio="0.4")
visu = TorusTensorMass.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="red", dx="2.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusTensorMass.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem__polar = ChainFEM.addChild('TorusFEM_POLAR')
torus_fem__polar.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__polar.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__polar.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh", createSubelements="true")
torus_fem__polar.addObject('MeshTopology', src="@loader")
torus_fem__polar.addObject('MechanicalObject', src="@loader", dx="5")
torus_fem__polar.addObject('UniformMass', totalMass="5")
torus_fem__polar.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="polar")
visu = TorusFEM_POLAR.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="blue", dx="5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_POLAR.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_fem__svd = ChainFEM.addChild('TorusFEM_SVD')
torus_fem__svd.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
torus_fem__svd.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
torus_fem__svd.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", createSubelements="true")
torus_fem__svd.addObject('MeshTopology', src="@loader")
torus_fem__svd.addObject('MechanicalObject', src="@loader", dx="7.5")
torus_fem__svd.addObject('UniformMass', totalMass="5")
torus_fem__svd.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", computeGlobalMatrix="false", method="svd")
visu = TorusFEM_SVD.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="yellow", dx="7.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM_SVD.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', )