SparseGridMultipleTopology

Sparse grid in 3D.

Target: Sofa.Component.Topology.Container.Grid

namespace: sofa::component::topology::container::grid

parents:

• SparseGridRamificationTopology

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
fillWeighted	Is quantity of matter inside a cell taken into account? (.5 for boundary, 1 for inside)	1
onlyInsideCells	Select only inside cells (exclude boundary cells)	0
n	grid resolution	2 2 2
min	Min	0 0 0
max	Max	0 0 0
cellWidth	if > 0 : dimension of each cell in the created grid	0
nbVirtualFinerLevels	create virtual (not in the animation tree) finer sparse grids in order to dispose of finest information (useful to compute better mechanical properties for example)	0
dataResolution	Dimension of the voxel File	0 0 0
voxelSize	Dimension of one voxel	1 1 1
marchingCubeStep	Step of the Marching Cube algorithm	1
convolutionSize	Dimension of the convolution kernel to smooth the voxels. 0 if no smoothing is required.	0
facets	Input mesh facets
finestConnectivity	Test for connectivity at the finest level? (more precise but slower by testing all intersections between the model mesh and the faces between boundary cubes)	1
fileTopologies	All topology filenames	[]
stiffnessCoefs	A stiffness coefficient for each topology filename
massCoefs	A mass coefficient for each topology filename
computeRamifications	Are ramifications wanted?	1
erasePreviousCoef	Does a new stiffness/mass coefficient replace the previous or blend half/half with it?	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

SparseGridMultipleTopology.scn

XMLPython

<Node name="root" gravity="0 0 0" 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 [MinProximityIntersection] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel 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.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
    <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 [SparseGridMultipleTopology] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <DefaultAnimationLoop/>

    <Node name="frog with several stiffnesses">
        <SparseGridMultipleTopology n="9 9 7" fileTopology="mesh/frog_body.obj" fileTopologies="mesh/frog_body.obj mesh/frog_eyes.obj mesh/frog_eyebrows.obj mesh/frog_lips.obj" stiffnessCoefs="10 100 100 .2" massCoefs="1 1 1 1" nbVirtualFinerLevels="1" />
        <!-- body=soft, lips=very soft, eyes=very stiff-->
        <!-- the order is important: included elements must appear after (lips is included in boby so it appears after)-->
        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="10" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject />
        <UniformMass vertexMass="1" />
        <HexahedronFEMForceField youngModulus="3000" poissonRatio="0.3" method="large" updateStiffnessMatrix="false" printLog="0" />
        <Node name="Visu1">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/frog_body.obj" handleSeams="1" />
            <OglModel name="VisualBody" src="@meshLoader_0" normals="0" color="0.17 0.70 0.05" />
            <BarycentricMapping input="@.." output="@VisualBody" />
        </Node>
        <Node name="Visu2">
            <MeshOBJLoader name="meshLoader_2" filename="mesh/frog_eyes.obj" handleSeams="1" />
            <OglModel name="VisualEyes" src="@meshLoader_2" normals="0" color="0.04 0.19 0.52" />
            <BarycentricMapping input="@.." output="@VisualEyes" />
        </Node>
        <Node name="Visu3">
            <MeshOBJLoader name="meshLoader_3" filename="mesh/frog_eyebrows.obj" handleSeams="1" />
            <OglModel name="VisualEyebrows" src="@meshLoader_3" normals="0" color="0.44 0.43 0.00" />
            <BarycentricMapping input="@.." output="@VisualEyebrows" />
        </Node>
        <Node name="Visu4">
            <MeshOBJLoader name="meshLoader_1" filename="mesh/frog_lips.obj" handleSeams="1" />
            <OglModel name="VisualLips" src="@meshLoader_1" normals="0" color="0.47 0.25 0.03" />
            <BarycentricMapping input="@.." output="@VisualLips" />
        </Node>
        <Node name="Surf">
            <MeshOBJLoader name="loader" filename="mesh/frog-push25.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel />
            <LineCollisionModel />
            <PointCollisionModel />
            <BarycentricMapping />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 0 0", 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.FEM.Elastic")
   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('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
   root.addObject('DefaultAnimationLoop', )

   frog_with_several_stiffnesses = root.addChild('frog with several stiffnesses')

   frog_with_several_stiffnesses.addObject('SparseGridMultipleTopology', n="9 9 7", fileTopology="mesh/frog_body.obj", fileTopologies="mesh/frog_body.obj mesh/frog_eyes.obj mesh/frog_eyebrows.obj mesh/frog_lips.obj", stiffnessCoefs="10 100 100 .2", massCoefs="1 1 1 1", nbVirtualFinerLevels="1")
   frog_with_several_stiffnesses.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
   frog_with_several_stiffnesses.addObject('CGLinearSolver', iterations="10", tolerance="1e-5", threshold="1e-5")
   frog_with_several_stiffnesses.addObject('MechanicalObject', )
   frog_with_several_stiffnesses.addObject('UniformMass', vertexMass="1")
   frog_with_several_stiffnesses.addObject('HexahedronFEMForceField', youngModulus="3000", poissonRatio="0.3", method="large", updateStiffnessMatrix="false", printLog="0")

   visu1 = frog with several stiffnesses.addChild('Visu1')

   visu1.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/frog_body.obj", handleSeams="1")
   visu1.addObject('OglModel', name="VisualBody", src="@meshLoader_0", normals="0", color="0.17 0.70 0.05")
   visu1.addObject('BarycentricMapping', input="@..", output="@VisualBody")

   visu2 = frog with several stiffnesses.addChild('Visu2')

   visu2.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/frog_eyes.obj", handleSeams="1")
   visu2.addObject('OglModel', name="VisualEyes", src="@meshLoader_2", normals="0", color="0.04 0.19 0.52")
   visu2.addObject('BarycentricMapping', input="@..", output="@VisualEyes")

   visu3 = frog with several stiffnesses.addChild('Visu3')

   visu3.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/frog_eyebrows.obj", handleSeams="1")
   visu3.addObject('OglModel', name="VisualEyebrows", src="@meshLoader_3", normals="0", color="0.44 0.43 0.00")
   visu3.addObject('BarycentricMapping', input="@..", output="@VisualEyebrows")

   visu4 = frog with several stiffnesses.addChild('Visu4')

   visu4.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/frog_lips.obj", handleSeams="1")
   visu4.addObject('OglModel', name="VisualLips", src="@meshLoader_1", normals="0", color="0.47 0.25 0.03")
   visu4.addObject('BarycentricMapping', input="@..", output="@VisualLips")

   surf = frog with several stiffnesses.addChild('Surf')

   surf.addObject('MeshOBJLoader', name="loader", filename="mesh/frog-push25.obj")
   surf.addObject('MeshTopology', src="@loader")
   surf.addObject('MechanicalObject', src="@loader")
   surf.addObject('TriangleCollisionModel', )
   surf.addObject('LineCollisionModel', )
   surf.addObject('PointCollisionModel', )
   surf.addObject('BarycentricMapping', )