RegularGridTopology
Regular grid in 3D.
Target: Sofa.Component.Topology.Container.Grid
namespace: sofa::component::topology::container::grid
parents:
- GridTopology
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 |
| filename | Filename of the mesh | |
| position | List of point positions | |
| edges | List of edge indices | |
| triangles | List of triangle indices | |
| quads | List of quad indices | |
| tetrahedra | List of tetrahedron indices | |
| hexahedra | List of hexahedron indices | |
| uv | List of uv coordinates | |
| n | grid resolution. (default = 2 2 2) | 2 2 2 |
| computeHexaList | put true if the list of Hexahedra is needed during init (default=true) | 1 |
| computeQuadList | put true if the list of Quad is needed during init (default=true) | 1 |
| computeTriangleList | put true if the list of Triangles is needed during init (default=true) | 1 |
| computeEdgeList | put true if the list of Lines is needed during init (default=true) | 1 |
| computePointList | put true if the list of Points is needed during init (default=true) | 1 |
| createTexCoords | If set to true, virtual texture coordinates will be generated using 3D interpolation (default=false). | 0 |
| min | Min end of the diagonal | 0 0 0 |
| max | Max end of the diagonal | 1 1 1 |
| p0 | Offset all the grid points | 0 0 0 |
| cellWidth | if > 0 : dimension of each cell in the created grid. Otherwise, the cell size is computed based on min, max, and resolution n. | 0 |
| Visualization | ||
| drawEdges | if true, draw the topology Edges | 0 |
| drawTriangles | if true, draw the topology Triangles | 0 |
| drawQuads | if true, draw the topology Quads | 0 |
| drawTetrahedra | if true, draw the topology Tetrahedra | 0 |
| drawHexahedra | if true, draw the topology hexahedra | 0 |
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 |
Examples
RegularGridTopology_dimension.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<Node name="RequiredPlugins" >
<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.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.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField TriangularFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RegularGridSpringForceField TriangularBendingSprings] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2QuadTopologicalMapping] -->
<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 showVisual" />
<DefaultAnimationLoop/>
<CollisionPipeline name="default21" verbose="0" />
<DefaultAnimationLoop/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="default22" response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<EulerImplicitSolver name="cg_odesolver" printLog="0" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="25" tolerance="1e-09" threshold="1e-09" />
<Node name="Cube" gravity="0 -9.81 0">
<RegularGridTopology name="grid" n="6 6 6" min="-10 -10 -10" max="10 10 10" p0="-30 -10 -10" computeHexaList="1"/>
<MechanicalObject template="Vec3" name="Hexa" />
<UniformMass template="Vec3" name="default25" vertexMass="10" />
<HexahedronFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="500" />
<BoxROI template="Vec3" name="box_roi" box="-31 9 -11 -9 11 11" drawSize="0" />
<FixedProjectiveConstraint template="Vec3" name="default27" indices="@box_roi.indices" drawSize="0" />
<Node name="Q">
<QuadSetTopologyContainer name="Container" />
<QuadSetTopologyModifier name="Modifier" />
<QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<Hexa2QuadTopologicalMapping input="@../grid" output="@Container" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel name="Visual" color="blue" quads="@../Container.quads" />
<IdentityMapping input="@../../Hexa" output="@Visual" />
</Node>
</Node>
</Node>
<Node name="Square" gravity="0 -9.81 0">
<RegularGridTopology name="grid" n="6 1 6" min="-10 -10 -10" max="10 10 10" p0="-6 10 -10" computeHexaList="0"/>
<MechanicalObject template="Vec3" name="Tri" />
<UniformMass template="Vec3" name="default25" vertexMass="10" />
<TriangularFEMForceField name="FEM" youngModulus="600" poissonRatio="0.3" method="large" />
<TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
<BoxROI template="Vec3" name="box_roi" box="-7 9 -11 17 11 -9" drawBoxes="0" />
<FixedProjectiveConstraint template="Vec3" name="default27" indices="@box_roi.indices" drawSize="0" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel name="Visual" color="blue" triangles="@../grid.triangles" />
<IdentityMapping input="@../Tri" output="@Visual" />
</Node>
</Node>
<Node name="Line" gravity="0 -9.81 0">
<RegularGridTopology name="grid" n="1 1 6" min="-10 -10 -10" max="10 10 10" p0="18 10 -10" computeHexaList="0"/>
<MechanicalObject template="Vec3" name="Edge" />
<UniformMass template="Vec3" name="default25" vertexMass="10" />
<RegularGridSpringForceField name="Springs" stiffness="300" damping="2" />
<BoxROI template="Vec3" name="box_roi" box="17 9 -11 20 11 -9" drawBoxes="0" />
<FixedProjectiveConstraint template="Vec3" name="default27" indices="@box_roi.indices" drawSize="0" />
<Node name="Visu">
<OglModel name="Visual" color="white" edges="@../grid.edges" />
<IdentityMapping input="@../Edge" output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01")
required_plugins = root.addChild('RequiredPlugins')
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
required_plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
root.addObject('DefaultAnimationLoop', )
root.addObject('CollisionPipeline', name="default21", verbose="0")
root.addObject('DefaultAnimationLoop', )
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="default22", response="PenalityContactForceField")
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
root.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1")
root.addObject('CGLinearSolver', template="GraphScattered", name="linear solver", iterations="25", tolerance="1e-09", threshold="1e-09")
cube = root.addChild('Cube', gravity="0 -9.81 0")
cube.addObject('RegularGridTopology', name="grid", n="6 6 6", min="-10 -10 -10", max="10 10 10", p0="-30 -10 -10", computeHexaList="1")
cube.addObject('MechanicalObject', template="Vec3", name="Hexa")
cube.addObject('UniformMass', template="Vec3", name="default25", vertexMass="10")
cube.addObject('HexahedronFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="500")
cube.addObject('BoxROI', template="Vec3", name="box_roi", box="-31 9 -11 -9 11 11", drawSize="0")
cube.addObject('FixedProjectiveConstraint', template="Vec3", name="default27", indices="@box_roi.indices", drawSize="0")
q = Cube.addChild('Q')
q.addObject('QuadSetTopologyContainer', name="Container")
q.addObject('QuadSetTopologyModifier', name="Modifier")
q.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
q.addObject('Hexa2QuadTopologicalMapping', input="@../grid", output="@Container")
q.addObject('TriangleCollisionModel', )
visu = Q.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="blue", quads="@../Container.quads")
visu.addObject('IdentityMapping', input="@../../Hexa", output="@Visual")
square = root.addChild('Square', gravity="0 -9.81 0")
square.addObject('RegularGridTopology', name="grid", n="6 1 6", min="-10 -10 -10", max="10 10 10", p0="-6 10 -10", computeHexaList="0")
square.addObject('MechanicalObject', template="Vec3", name="Tri")
square.addObject('UniformMass', template="Vec3", name="default25", vertexMass="10")
square.addObject('TriangularFEMForceField', name="FEM", youngModulus="600", poissonRatio="0.3", method="large")
square.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="300", damping="1.0")
square.addObject('BoxROI', template="Vec3", name="box_roi", box="-7 9 -11 17 11 -9", drawBoxes="0")
square.addObject('FixedProjectiveConstraint', template="Vec3", name="default27", indices="@box_roi.indices", drawSize="0")
square.addObject('TriangleCollisionModel', )
visu = Square.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="blue", triangles="@../grid.triangles")
visu.addObject('IdentityMapping', input="@../Tri", output="@Visual")
line = root.addChild('Line', gravity="0 -9.81 0")
line.addObject('RegularGridTopology', name="grid", n="1 1 6", min="-10 -10 -10", max="10 10 10", p0="18 10 -10", computeHexaList="0")
line.addObject('MechanicalObject', template="Vec3", name="Edge")
line.addObject('UniformMass', template="Vec3", name="default25", vertexMass="10")
line.addObject('RegularGridSpringForceField', name="Springs", stiffness="300", damping="2")
line.addObject('BoxROI', template="Vec3", name="box_roi", box="17 9 -11 20 11 -9", drawBoxes="0")
line.addObject('FixedProjectiveConstraint', template="Vec3", name="default27", indices="@box_roi.indices", drawSize="0")
visu = Line.addChild('Visu')
visu.addObject('OglModel', name="Visual", color="white", edges="@../grid.edges")
visu.addObject('IdentityMapping', input="@../Edge", output="@Visual")
RegularGridTopology.scn
<!-- RegularGrid examples -->
<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 [DiscreteIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
<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.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader SphereLoader] -->
<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.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 showVisual" />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<DiscreteIntersection/>
<DefaultAnimationLoop/>
<Node name="LiverFFD-lowres">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="100" tolerance="1e-7" threshold="1e-7"/>
<MechanicalObject />
<UniformMass totalMass="100.0" />
<RegularGridTopology nx="4" ny="3" nz="3" xmin="-10.25" xmax="-3.25" ymin="0.25" ymax="5.25" zmin="-2" zmax="3" />
<BoxConstraint box="-8.5 0 -2.5 -5 3 2" />
<RegularGridSpringForceField name="Springs" stiffness="400" damping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/liver-smooth.obj" translation="-5 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="red" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Collision Surface">
<SphereLoader filename="mesh/liver.sph" />
<MechanicalObject position="@[-1].position" translation="-5 0 0" />
<SphereCollisionModel name="Surf" listRadius="@[-2].listRadius" />
<BarycentricMapping input="@.." output="@." />
</Node>
</Node>
<Node name="LiverFFD-hires">
<EulerImplicitSolver />
<CGLinearSolver iterations="100" tolerance="1e-7" threshold="1e-7"/>
<MechanicalObject />
<UniformMass totalMass="100.0" />
<RegularGridTopology nx="8" ny="6" nz="6" xmin="-0.25" xmax="7.25" ymin="0.25" ymax="5.25" zmin="-2" zmax="3" />
<BoxConstraint box="2.5 0 -2.5 5 3 2" />
<RegularGridSpringForceField name="Springs" stiffness="100" damping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/liver-smooth.obj" translation="5 0 0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="red" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Collision Surface">
<SphereLoader filename="mesh/liver.sph" />
<MechanicalObject position="@[-1].position" translation="5 0 0" />
<SphereCollisionModel name="Surf" listRadius="@[-2].listRadius" />
<BarycentricMapping input="@.." output="@." />
</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.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showVisual")
root.addObject('CollisionPipeline', verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', response="PenalityContactForceField")
root.addObject('DiscreteIntersection', )
root.addObject('DefaultAnimationLoop', )
liver_ffd_lowres = root.addChild('LiverFFD-lowres')
liver_ffd_lowres.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
liver_ffd_lowres.addObject('CGLinearSolver', iterations="100", tolerance="1e-7", threshold="1e-7")
liver_ffd_lowres.addObject('MechanicalObject', )
liver_ffd_lowres.addObject('UniformMass', totalMass="100.0")
liver_ffd_lowres.addObject('RegularGridTopology', nx="4", ny="3", nz="3", xmin="-10.25", xmax="-3.25", ymin="0.25", ymax="5.25", zmin="-2", zmax="3")
liver_ffd_lowres.addObject('BoxConstraint', box="-8.5 0 -2.5 -5 3 2")
liver_ffd_lowres.addObject('RegularGridSpringForceField', name="Springs", stiffness="400", damping="4")
visu = LiverFFD-lowres.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/liver-smooth.obj", translation="-5 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="red")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
collision__surface = LiverFFD-lowres.addChild('Collision Surface')
collision__surface.addObject('SphereLoader', filename="mesh/liver.sph")
collision__surface.addObject('MechanicalObject', position="@[-1].position", translation="-5 0 0")
collision__surface.addObject('SphereCollisionModel', name="Surf", listRadius="@[-2].listRadius")
collision__surface.addObject('BarycentricMapping', input="@..", output="@.")
liver_ffd_hires = root.addChild('LiverFFD-hires')
liver_ffd_hires.addObject('EulerImplicitSolver', )
liver_ffd_hires.addObject('CGLinearSolver', iterations="100", tolerance="1e-7", threshold="1e-7")
liver_ffd_hires.addObject('MechanicalObject', )
liver_ffd_hires.addObject('UniformMass', totalMass="100.0")
liver_ffd_hires.addObject('RegularGridTopology', nx="8", ny="6", nz="6", xmin="-0.25", xmax="7.25", ymin="0.25", ymax="5.25", zmin="-2", zmax="3")
liver_ffd_hires.addObject('BoxConstraint', box="2.5 0 -2.5 5 3 2")
liver_ffd_hires.addObject('RegularGridSpringForceField', name="Springs", stiffness="100", damping="4")
visu = LiverFFD-hires.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/liver-smooth.obj", translation="5 0 0", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
collision__surface = LiverFFD-hires.addChild('Collision Surface')
collision__surface.addObject('SphereLoader', filename="mesh/liver.sph")
collision__surface.addObject('MechanicalObject', position="@[-1].position", translation="5 0 0")
collision__surface.addObject('SphereCollisionModel', name="Surf", listRadius="@[-2].listRadius")
collision__surface.addObject('BarycentricMapping', input="@..", output="@.")
RegularGridTopology_TrianglesMesh.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 -9 5">
<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.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.FEM.Elastic"/> <!-- Needed to use components [TriangularFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
<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.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 showVisual" />
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<DefaultAnimationLoop/>
<Node name="SquareGravity">
<EulerImplicitSolver name="cg_odesolver"/>
<CGImplicit iterations="40" tolerance="1e-6" threshold="1e-10" />
<RegularGridTopology name="grid" nx="10" ny="10" nz="1" xmin="-5" xmax="5" ymin="-5" ymax="5" zmin="0" zmax="0"/>
<MechanicalObject src="@grid" scale="10" />
<TriangleSetTopologyContainer name="Container" src="@grid"/>
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" drawEdges="1"/>
<DiagonalMass massDensity="0.15" />
<FixedProjectiveConstraint indices="0 1 8 9 10 19" />
<TriangularFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />
<TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
<TriangleCollisionModel />
<Node >
<OglModel name="Visual" color="red" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.05", showBoundingTree="0", gravity="0 -9 5")
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.Dynamic")
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 showVisual")
root.addObject('CollisionPipeline', )
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")
square_gravity.addObject('CGImplicit', iterations="40", tolerance="1e-6", threshold="1e-10")
square_gravity.addObject('RegularGridTopology', name="grid", nx="10", ny="10", nz="1", xmin="-5", xmax="5", ymin="-5", ymax="5", zmin="0", zmax="0")
square_gravity.addObject('MechanicalObject', src="@grid", scale="10")
square_gravity.addObject('TriangleSetTopologyContainer', name="Container", src="@grid")
square_gravity.addObject('TriangleSetTopologyModifier', name="Modifier")
square_gravity.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", drawEdges="1")
square_gravity.addObject('DiagonalMass', massDensity="0.15")
square_gravity.addObject('FixedProjectiveConstraint', indices="0 1 8 9 10 19")
square_gravity.addObject('TriangularFEMForceField', name="FEM", youngModulus="60", poissonRatio="0.3", method="large")
square_gravity.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="300", damping="1.0")
square_gravity.addObject('TriangleCollisionModel', )
node = SquareGravity.addChild('node')
node.addObject('OglModel', name="Visual", color="red")
node.addObject('IdentityMapping', input="@..", output="@Visual")