ShapeMatchingForceField
Meshless deformations based on shape matching
Vec3d
Templates:
- Vec3d
Target: ShapeMatchingPlugin
namespace: sofa::component::forcefield
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 objet 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 | force stiffness | 500 |
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> |
| rotationFinder | link to the rotation finder | ShapeMatchingRotationFinder<Vec3d> |
Examples
ShapeMatchingForceField.scn
<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 [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,PointCollisionModel,SphereCollisionModel,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 [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.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<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.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="ShapeMatchingPlugin"/> <!-- Needed to use components [ShapeMatchingForceField,ShapeMatchingRotationFinder] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<CollisionPipeline verbose="0" draw="0" />
<BruteForceBroadPhase />
<BVHNarrowPhase />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="cubeFEM">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1" dz="10" />
<UniformMass totalMass="3" />
<RotationFinder neighborhoodLevel="1" radius="0.1" />
<ShapeMatchingForceField name="ShapeMatching" stiffness="100" />
<MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
<Node name="Visu">
<OglModel name="Visual" src="@../loader" color="red" dz="10" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf">
<MeshTopology src="@../loader" />
<MechanicalObject src="@../loader" dz="10" />
<SphereCollisionModel contactStiffness="10" radius="0.1"/>
<IdentityMapping />
</Node>
</Node>
<Node name="Floor">
<MeshOBJLoader name="loader" filename="mesh/floor3.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dy="-10" scale="1.75" />
<TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
<LineCollisionModel name="FloorLine" simulated="0" moving="0" />
<PointCollisionModel name="FloorPoint" simulated="0" moving="0" />
<OglModel name="FloorV" src="@loader" texturename="textures/brushed_metal.bmp" dy="-10" scale="1.75" />
</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.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.SceneUtility")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('RequiredPlugin', name="ShapeMatchingPlugin")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('CollisionPipeline', verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
cube_fem = root.addChild('cubeFEM')
cube_fem.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
cube_fem.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
cube_fem.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
cube_fem.addObject('MeshTopology', src="@loader")
cube_fem.addObject('MechanicalObject', src="@loader", scale="1", dz="10")
cube_fem.addObject('UniformMass', totalMass="3")
cube_fem.addObject('RotationFinder', neighborhoodLevel="1", radius="0.1")
cube_fem.addObject('ShapeMatchingForceField', name="ShapeMatching", stiffness="100")
cube_fem.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
visu = cubeFEM.addChild('Visu')
visu.addObject('OglModel', name="Visual", src="@../loader", color="red", dz="10")
visu.addObject('IdentityMapping', input="@..", output="@Visual")
surf = cubeFEM.addChild('Surf')
surf.addObject('MeshTopology', src="@../loader")
surf.addObject('MechanicalObject', src="@../loader", dz="10")
surf.addObject('SphereCollisionModel', contactStiffness="10", radius="0.1")
surf.addObject('IdentityMapping', )
floor = root.addChild('Floor')
floor.addObject('MeshOBJLoader', name="loader", filename="mesh/floor3.obj")
floor.addObject('MeshTopology', src="@loader")
floor.addObject('MechanicalObject', src="@loader", dy="-10", scale="1.75")
floor.addObject('TriangleCollisionModel', name="FloorTriangle", simulated="0", moving="0")
floor.addObject('LineCollisionModel', name="FloorLine", simulated="0", moving="0")
floor.addObject('PointCollisionModel', name="FloorPoint", simulated="0", moving="0")
floor.addObject('OglModel', name="FloorV", src="@loader", texturename="textures/brushed_metal.bmp", dy="-10", scale="1.75")