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DistanceGridForceField

Force applied by a distancegrid toward the exterior, the interior, or the surface

Vec3d

Templates:

  • Vec3d

Target: SofaDistanceGrid

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
filename load distance grid from specified file
scale scaling factor for input file 1
box Field bounding box defined by xmin,ymin,zmin, xmax,ymax,zmax
nx number of values on X axis 64
ny number of values on Y axis 64
nz number of values on Z axis 64
stiffnessIn force stiffness when inside of the object 500
stiffnessOut force stiffness when outside of the object 0
damping force damping coefficient 0.01
maxdist max distance of the surface after which no more force is applied 1
minArea minimal area for each triangle, as seen from the direction of the local surface (i.e. a flipped triangle will have a negative area) 0
stiffnessArea force stiffness if a triangle have an area less than minArea 100
minVolume minimal volume for each tetrahedron (a flipped triangle will have a negative volume) 0
stiffnessVolume force stiffness if a tetrahedron have an volume less than minVolume 0
color display color.(default=[0.0,0.5,0.2,1.0]) 0 0.5 0.2 1
localRange optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) -1 -1
Visualization
draw enable/disable drawing of distancegrid 0
drawPoints enable/disable drawing of distancegrid 0
drawSize display size if draw is enabled 10
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>

Examples

DistanceGridForceField-liver.scn

<Node name="root" dt="0.01" showBoundingTree="0" gravity="0 -9.81 0">
    <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.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <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 [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
    <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.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="SofaDistanceGrid"/> <!-- Needed to use components [DistanceGridForceField] -->
    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="2" contactDistance="0.1" />

    <Node name="Simulation">

        <Node name="CubeObstacle">
            <OglModel name="cubeVisual" filename="mesh/cube.obj" color="green"/>
        </Node>

        <Node name="liver">
            <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
            <CGLinearSolver iterations="150" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

            <MeshGmshLoader name="loader" filename="mesh/liver.msh"/>

            <TetrahedronSetTopologyContainer name="tetras" src="@loader"/>
            <TetrahedronSetTopologyModifier   name="Modifier" />
            <TetrahedronSetGeometryAlgorithms name="GeomAlgo"  template="Vec3d" />

            <MechanicalObject name="meca"/>
            <DiagonalMass vertexMass="100"/>

            <TetrahedronFEMForceField youngModulus="1000000" poissonRatio="0.45"/>
            <DistanceGridForceField filename="mesh/cubeDistanceGrid.fmesh" stiffnessIn="100000000" stiffnessOut="0" draw="true" drawPoints="true" printLog="false" drawSize="2"/>

            <Node name="visual">
                <OglModel name="visu" filename="mesh/liver.obj"/>
                <BarycentricMapping input="@../meca" output="@visu"/>
            </Node>

            <PlaneForceField stiffness="1000000" d="-1"/>

        </Node>

    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", showBoundingTree="0", gravity="0 -9.81 0")

   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.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.MechanicalLoad")
   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.Dynamic")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('RequiredPlugin', name="SofaDistanceGrid")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showCollisionModels")
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="2", contactDistance="0.1")

   simulation = root.addChild('Simulation')

   cube_obstacle = Simulation.addChild('CubeObstacle')

   cube_obstacle.addObject('OglModel', name="cubeVisual", filename="mesh/cube.obj", color="green")

   liver = Simulation.addChild('liver')

   liver.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   liver.addObject('CGLinearSolver', iterations="150", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   liver.addObject('MeshGmshLoader', name="loader", filename="mesh/liver.msh")
   liver.addObject('TetrahedronSetTopologyContainer', name="tetras", src="@loader")
   liver.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   liver.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo", template="Vec3d")
   liver.addObject('MechanicalObject', name="meca")
   liver.addObject('DiagonalMass', vertexMass="100")
   liver.addObject('TetrahedronFEMForceField', youngModulus="1000000", poissonRatio="0.45")
   liver.addObject('DistanceGridForceField', filename="mesh/cubeDistanceGrid.fmesh", stiffnessIn="100000000", stiffnessOut="0", draw="true", drawPoints="true", printLog="false", drawSize="2")

   visual = liver.addChild('visual')

   visual.addObject('OglModel', name="visu", filename="mesh/liver.obj")
   visual.addObject('BarycentricMapping', input="@../meca", output="@visu")

   liver.addObject('PlaneForceField', stiffness="1000000", d="-1")