SpatialGridPointModel
Collision model which represents a set of points, spatially grouped using a SpatialGridContainer
Target: SofaSphFluid
namespace: sofa::component::collision
parents:
- PointCollisionModel
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 |
| active | flag indicating if this collision model is active and should be included in default collision detections | 1 |
| moving | flag indicating if this object is changing position between iterations | 1 |
| simulated | flag indicating if this object is controlled by a simulation | 1 |
| selfCollision | flag indication if the object can self collide | 0 |
| proximity | Distance to the actual (visual) surface | 0 |
| contactStiffness | Contact stiffness | 10 |
| contactFriction | Contact friction coefficient (dry or viscous or unused depending on the contact method) | 0 |
| contactRestitution | Contact coefficient of restitution | 0 |
| contactResponse | if set, indicate to the ContactManager that this model should use the given class of contacts. Note that this is only indicative, and in particular if both collision models specify a different class it is up to the manager to choose. | |
| color | color used to display the collision model if requested | 1 0 0 1 |
| group | IDs of the groups containing this model. No collision can occur between collision models included in a common group (e.g. allowing the same object to have multiple collision models) | |
| numberOfContacts | Number of collision models this collision model is currently attached to | 0 |
| bothSide | activate collision on both side of the point model (when surface normals are defined on these points) | 0 |
| computeNormals | activate computation of normal vectors (required for some collision detection algorithms) | 0 |
| displayFreePosition | Display Collision Model Points free position(in green) | 0 |
| leafScale | at which level should the first cube layer be constructed. Note that this must not be greater than GRIDDIM_LOG2 | 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 |
| previous | Previous (coarser / upper / parent level) CollisionModel in the hierarchy. | CollisionModel |
| next | Next (finer / lower / child level) CollisionModel in the hierarchy. | CollisionModel |
| collisionElementActiver | CollisionElementActiver component that activates or deactivates collision element(s) during execution | BaseObject |
| topology | link to the topology container | BaseMeshTopology |
Examples
SpatialGridPointModel.scn
<?xml version="1.0" ?>
<Node dt="0.005" gravity="0 -10 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 [NewProximityIntersection] -->
<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.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [RungeKutta4Solver] -->
<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 [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="SofaSphFluid"/> <!-- Needed to use components [ParticleSink ParticleSource SPHFluidForceField SPHFluidSurfaceMapping SpatialGridContainer SpatialGridPointModel] -->
<VisualStyle displayFlags="showVisual showBehaviorModels hideForceFields" />
<DefaultAnimationLoop/>
<CollisionPipeline verbose="0" />
<NewProximityIntersection alarmDistance="0.5" contactDistance="0.3" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" />
<Node name="Fluid">
<RungeKutta4Solver />
<RegularGridTopology nx="5" ny="30" nz="5" xmin="-1.5" xmax="0" ymin="-3" ymax="9" zmin="-1.5" zmax="0" drawEdges="0"/>
<MechanicalObject name="MModel" />
<UniformMass name="M1" vertexMass="1" />
<SpatialGridContainer cellWidth="0.75" sortPoints="true" />
<SPHFluidForceField radius="0.745" density="15" viscosity="10" pressure="1000" surfaceTension="-1000" />
<Node name="Visual">
<OglModel name="VModel" color="blue" />
<SPHFluidSurfaceMapping name="MarchingCube" input="@../MModel" output="@VModel" isoValue="0.5" radius="0.75" step="0.25" />
</Node>
<SpatialGridPointModel contactStiffness="1000" />
</Node>
<Node name="World">
<MechanicalObject position="
						 -4 -1.6 -4 4 -5.6 -4 4 -6.4 4 -4 -2.4 4
						 -4 -1.6 -4 -4 -1.5 -4 4 -1.5 -4 4 -5.6 -4
						 4 -5.6 -4 4 -1.5 -4 4 -1.5 4 4 -6.4 4
						 4 -6.4 4 4 -1.5 4 -4 -1.5 4 -4 -2.4 4
						 -4 -2.4 4 -4 -1.5 4 -4 -1.5 -4 -4 -1.6 -4
						 " scale="1.075" />
<MeshTopology triangles="0 1 2 0 2 3 4 5 6 4 6 7 8 9 10 8 10 11 12 13 14 12 14 15 16 17 18 16 18 19" />
<TriangleCollisionModel contactStiffness="20" moving="false" simulated="false" />
<LineCollisionModel contactStiffness="20" moving="false" simulated="false" />
<PointCollisionModel contactStiffness="20" moving="false" simulated="false" />
<OglModel name="VModel" color="0.95 1.0 0.95 0.25" printLog="false" />
</Node>
</Node>
def createScene(root_node):
node = root_node.addChild('node', dt="0.005", gravity="0 -10 0")
node.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
node.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
node.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
node.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
node.addObject('RequiredPlugin', name="Sofa.Component.Mass")
node.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
node.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
node.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
node.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
node.addObject('RequiredPlugin', name="Sofa.Component.Visual")
node.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
node.addObject('RequiredPlugin', name="SofaSphFluid")
node.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels hideForceFields")
node.addObject('DefaultAnimationLoop', )
node.addObject('CollisionPipeline', verbose="0")
node.addObject('NewProximityIntersection', alarmDistance="0.5", contactDistance="0.3")
node.addObject('BruteForceBroadPhase', )
node.addObject('BVHNarrowPhase', )
node.addObject('CollisionResponse', response="PenalityContactForceField")
fluid = node.addChild('Fluid')
fluid.addObject('RungeKutta4Solver', )
fluid.addObject('RegularGridTopology', nx="5", ny="30", nz="5", xmin="-1.5", xmax="0", ymin="-3", ymax="9", zmin="-1.5", zmax="0", drawEdges="0")
fluid.addObject('MechanicalObject', name="MModel")
fluid.addObject('UniformMass', name="M1", vertexMass="1")
fluid.addObject('SpatialGridContainer', cellWidth="0.75", sortPoints="true")
fluid.addObject('SPHFluidForceField', radius="0.745", density="15", viscosity="10", pressure="1000", surfaceTension="-1000")
visual = Fluid.addChild('Visual')
visual.addObject('OglModel', name="VModel", color="blue")
visual.addObject('SPHFluidSurfaceMapping', name="MarchingCube", input="@../MModel", output="@VModel", isoValue="0.5", radius="0.75", step="0.25")
fluid.addObject('SpatialGridPointModel', contactStiffness="1000")
world = node.addChild('World')
world.addObject('MechanicalObject', position="
-4 -1.6 -4 4 -5.6 -4 4 -6.4 4 -4 -2.4 4
-4 -1.6 -4 -4 -1.5 -4 4 -1.5 -4 4 -5.6 -4
4 -5.6 -4 4 -1.5 -4 4 -1.5 4 4 -6.4 4
4 -6.4 4 4 -1.5 4 -4 -1.5 4 -4 -2.4 4
-4 -2.4 4 -4 -1.5 4 -4 -1.5 -4 -4 -1.6 -4
", scale="1.075")
world.addObject('MeshTopology', triangles="0 1 2 0 2 3 4 5 6 4 6 7 8 9 10 8 10 11 12 13 14 12 14 15 16 17 18 16 18 19")
world.addObject('TriangleCollisionModel', contactStiffness="20", moving="false", simulated="false")
world.addObject('LineCollisionModel', contactStiffness="20", moving="false", simulated="false")
world.addObject('PointCollisionModel', contactStiffness="20", moving="false", simulated="false")
world.addObject('OglModel', name="VModel", color="0.95 1.0 0.95 0.25", printLog="false")