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SPHFluidForceField

Smooth Particle Hydrodynamics

Vec3d

Templates:

  • Vec3d

Target: SofaSphFluid

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 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
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
radius Radius of a Particle 1
mass Mass of a Particle 1
pressure Pressure 100
density Density 1
viscosity Viscosity 0.001
surfaceTension Surface Tension 0
kernelType 0 = default kernels, 1 = cubic spline 0
pressureType 0 = none, 1 = default pressure 1
viscosityType 0 = none, 1 = default d_viscosity using kernel Laplacian, 2 = artificial d_viscosity 1
surfaceTensionType 0 = none, 1 = default surface tension using kernel Laplacian, 2 = cohesion forces surface tension from Becker et al. 2007 1
debugGrid If true will store additionnal information on the grid to check neighbors and draw them 0
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

SPHFluidForceFieldCUDA.scn

<Node dt="0.005" showBehaviorModels="1" showCollisionModels="1" showMappings="0" showForceFields="1" gravity="0 -10 0" >
    <RequiredPlugin name="SofaOpenglVisual"/>
    <RequiredPlugin name="CUDA computing" pluginName="SofaCUDA" />
    <Node>
        <RungeKutta4Solver/>
        <!--<CentralDifferenceSolver/>-->
        <!--<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>-->
        <MechanicalObject name="MModel" template="CudaVec3f" />
        <!-- A topology is used here just to set initial particles positions. It is a bad idea because this object has no real topology, but it works... -->
        <RegularGridTopology
            nx="5" ny="40" nz="5"
            xmin="-1.5" xmax="0"
            ymin="-3" ymax="12"
            zmin="-1.5" zmax="0"
        />
        <UniformMass name="M1" vertexMass="1" />
        <SpatialGridContainer cellWidth="1.5" />
        <SPHFluidForceField radius="0.75" density="15" viscosity="10" pressure="1000" surfaceTension="-1000" />
        <!-- The following force fields handle collision with walls and an inclined floor -->
        <PlaneForceField normal="1 0 0" d="-4"/>
        <PlaneForceField normal="-1 0 0" d="-4"/>
        <PlaneForceField normal="0.5 1 0.1" d="-4"/>
        <PlaneForceField normal="0 0 1" d="-4"/>
        <PlaneForceField normal="0 0 -1" d="-4"/>
<!--
        <Node id="Visual">
            <OglModel name="VModel" color="blue" useVBO="false"/>
            <SPHFluidSurfaceMapping name="MarchingCube" input="@../MModel" output="@VModel" isoValue="0.5" radius="0.75" step="0.25"/>
        </Node>
-->
    </Node>
</Node>
def createScene(root_node):

   node = root_node.addChild('node', dt="0.005", showBehaviorModels="1", showCollisionModels="1", showMappings="0", showForceFields="1", gravity="0 -10 0")

   node.addObject('RequiredPlugin', name="SofaOpenglVisual")
   node.addObject('RequiredPlugin', name="CUDA computing", pluginName="SofaCUDA")

   node = node.addChild('node')

   node.addObject('RungeKutta4Solver', )
   node.addObject('MechanicalObject', name="MModel", template="CudaVec3f")
   node.addObject('RegularGridTopology', nx="5", ny="40", nz="5", xmin="-1.5", xmax="0", ymin="-3", ymax="12", zmin="-1.5", zmax="0")
   node.addObject('UniformMass', name="M1", vertexMass="1")
   node.addObject('SpatialGridContainer', cellWidth="1.5")
   node.addObject('SPHFluidForceField', radius="0.75", density="15", viscosity="10", pressure="1000", surfaceTension="-1000")
   node.addObject('PlaneForceField', normal="1 0 0", d="-4")
   node.addObject('PlaneForceField', normal="-1 0 0", d="-4")
   node.addObject('PlaneForceField', normal="0.5 1 0.1", d="-4")
   node.addObject('PlaneForceField', normal="0 0 1", d="-4")
   node.addObject('PlaneForceField', normal="0 0 -1", d="-4")

SPHFluidForceField_benchmarks.scn

<?xml version="1.0" ?>
<Node dt="0.01" gravity="0 -10 0">
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <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.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="SofaSphFluid"/> <!-- Needed to use components [SPHFluidForceField SpatialGridContainer] -->

    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels" />

    <DefaultAnimationLoop/>
    <Node name="Less_pressure">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <MechanicalObject name="Model" />
        <RegularGridTopology nx="5" ny="40" nz="5" xmin="-1.5" xmax="0" ymin="0" ymax="15" zmin="10" zmax="11.5"/>
        <UniformMass name="M1" vertexMass="1" />
        <SpatialGridContainer cellWidth="0.75"/>
        <SPHFluidForceField radius="0.745" density="15" kernelType="1" viscosityType="2" viscosity="10" pressure="10" surfaceTension="-1000" printLog="0" />

        <PlaneForceField normal="1 0 0" d="-4" showPlane="0"/>
        <PlaneForceField normal="-1 0 0" d="-14" showPlane="0"/>
        <PlaneForceField normal="0.3 1 0" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 1" d="6" showPlane="1"/>
        <PlaneForceField normal="0 0 -1" d="-14" showPlane="1"/>
    </Node> 

    <Node name="Normal">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <MechanicalObject name="MModel" />
        <RegularGridTopology nx="5" ny="40" nz="5" xmin="-1.5" xmax="0" ymin="0" ymax="15" zmin="-1.5" zmax="0"/>
        <UniformMass name="M1" vertexMass="1" />
        <SpatialGridContainer cellWidth="0.75"/>
        <SPHFluidForceField radius="0.745" density="15" kernelType="1" viscosityType="2" viscosity="10" pressure="1000" surfaceTension="-1000" printLog="0" />

        <PlaneForceField normal="1 0 0" d="-4" showPlane="0"/>
        <PlaneForceField normal="-1 0 0" d="-14" showPlane="0"/>
        <PlaneForceField normal="0.3 1 0" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 1" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 -1" d="-4" showPlane="1"/>
    </Node>


    <Node name="Double">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />

        <MechanicalObject name="MModel" />
        <RegularGridTopology nx="5" ny="80" nz="5" xmin="-1.5" xmax="0" ymin="0" ymax="15" zmin="-11.5" zmax="-10"/>
        <UniformMass name="M1" vertexMass="1" />
        <SpatialGridContainer cellWidth="0.75"/>
        <SPHFluidForceField radius="0.745" density="30" kernelType="1" viscosityType="2" viscosity="10" pressure="1000" surfaceTension="-1000" printLog="0" />

        <PlaneForceField normal="1 0 0" d="-4" showPlane="0"/>
        <PlaneForceField normal="-1 0 0" d="-14" showPlane="0"/>
        <PlaneForceField normal="0.3 1 0" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 1" d="-14" showPlane="1"/>
        <PlaneForceField normal="0 0 -1" d="6" showPlane="1"/>
    </Node>

</Node>
def createScene(root_node):

   node = root_node.addChild('node', dt="0.01", gravity="0 -10 0")

   node.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   node.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   node.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
   node.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   node.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   node.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   node.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   node.addObject('RequiredPlugin', name="SofaSphFluid")
   node.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showCollisionModels")
   node.addObject('DefaultAnimationLoop', )

   less_pressure = node.addChild('Less_pressure')

   less_pressure.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   less_pressure.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   less_pressure.addObject('MechanicalObject', name="Model")
   less_pressure.addObject('RegularGridTopology', nx="5", ny="40", nz="5", xmin="-1.5", xmax="0", ymin="0", ymax="15", zmin="10", zmax="11.5")
   less_pressure.addObject('UniformMass', name="M1", vertexMass="1")
   less_pressure.addObject('SpatialGridContainer', cellWidth="0.75")
   less_pressure.addObject('SPHFluidForceField', radius="0.745", density="15", kernelType="1", viscosityType="2", viscosity="10", pressure="10", surfaceTension="-1000", printLog="0")
   less_pressure.addObject('PlaneForceField', normal="1 0 0", d="-4", showPlane="0")
   less_pressure.addObject('PlaneForceField', normal="-1 0 0", d="-14", showPlane="0")
   less_pressure.addObject('PlaneForceField', normal="0.3 1 0", d="-4", showPlane="1")
   less_pressure.addObject('PlaneForceField', normal="0 0 1", d="6", showPlane="1")
   less_pressure.addObject('PlaneForceField', normal="0 0 -1", d="-14", showPlane="1")

   normal = node.addChild('Normal')

   normal.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   normal.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   normal.addObject('MechanicalObject', name="MModel")
   normal.addObject('RegularGridTopology', nx="5", ny="40", nz="5", xmin="-1.5", xmax="0", ymin="0", ymax="15", zmin="-1.5", zmax="0")
   normal.addObject('UniformMass', name="M1", vertexMass="1")
   normal.addObject('SpatialGridContainer', cellWidth="0.75")
   normal.addObject('SPHFluidForceField', radius="0.745", density="15", kernelType="1", viscosityType="2", viscosity="10", pressure="1000", surfaceTension="-1000", printLog="0")
   normal.addObject('PlaneForceField', normal="1 0 0", d="-4", showPlane="0")
   normal.addObject('PlaneForceField', normal="-1 0 0", d="-14", showPlane="0")
   normal.addObject('PlaneForceField', normal="0.3 1 0", d="-4", showPlane="1")
   normal.addObject('PlaneForceField', normal="0 0 1", d="-4", showPlane="1")
   normal.addObject('PlaneForceField', normal="0 0 -1", d="-4", showPlane="1")

   double = node.addChild('Double')

   double.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   double.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   double.addObject('MechanicalObject', name="MModel")
   double.addObject('RegularGridTopology', nx="5", ny="80", nz="5", xmin="-1.5", xmax="0", ymin="0", ymax="15", zmin="-11.5", zmax="-10")
   double.addObject('UniformMass', name="M1", vertexMass="1")
   double.addObject('SpatialGridContainer', cellWidth="0.75")
   double.addObject('SPHFluidForceField', radius="0.745", density="30", kernelType="1", viscosityType="2", viscosity="10", pressure="1000", surfaceTension="-1000", printLog="0")
   double.addObject('PlaneForceField', normal="1 0 0", d="-4", showPlane="0")
   double.addObject('PlaneForceField', normal="-1 0 0", d="-14", showPlane="0")
   double.addObject('PlaneForceField', normal="0.3 1 0", d="-4", showPlane="1")
   double.addObject('PlaneForceField', normal="0 0 1", d="-14", showPlane="1")
   double.addObject('PlaneForceField', normal="0 0 -1", d="6", showPlane="1")

SPHFluidForceField.scn

<?xml version="1.0" ?>
<Node dt="0.01" gravity="0 -10 0">
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
    <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="SofaSphFluid"/> <!-- Needed to use components [SPHFluidForceField SpatialGridContainer] -->

    <VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels" />

    <DefaultAnimationLoop/>
    <Node>
        <EulerExplicitSolver symplectic="1" />
        <MechanicalObject name="MModel" />
        <!-- A topology is used here just to set initial particles positions. It is a bad idea because this object has no real topology, but it works... -->
        <RegularGridTopology nx="5" ny="40" nz="5" xmin="-1.5" xmax="0" ymin="-3" ymax="12" zmin="-1.5" zmax="0"/>
        <UniformMass name="M1" vertexMass="1" />
        <SpatialGridContainer cellWidth="0.75" />
        <SPHFluidForceField radius="0.745" density="15" kernelType="1" viscosityType="2" viscosity="10" pressure="1000" surfaceTension="-1000" printLog="0" />
        <!-- The following force fields handle collision with walls and an inclined floor -->
        <PlaneForceField normal="1 0 0" d="-4" showPlane="1"/>
        <PlaneForceField normal="-1 0 0" d="-4" showPlane="1"/>
        <PlaneForceField normal="0.5 1 0.1" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 1" d="-4" showPlane="1"/>
        <PlaneForceField normal="0 0 -1" d="-4" showPlane="1"/>
    </Node>
</Node>
def createScene(root_node):

   node = root_node.addChild('node', dt="0.01", gravity="0 -10 0")

   node.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   node.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
   node.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
   node.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   node.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   node.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   node.addObject('RequiredPlugin', name="SofaSphFluid")
   node.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showCollisionModels")
   node.addObject('DefaultAnimationLoop', )

   node = node.addChild('node')

   node.addObject('EulerExplicitSolver', symplectic="1")
   node.addObject('MechanicalObject', name="MModel")
   node.addObject('RegularGridTopology', nx="5", ny="40", nz="5", xmin="-1.5", xmax="0", ymin="-3", ymax="12", zmin="-1.5", zmax="0")
   node.addObject('UniformMass', name="M1", vertexMass="1")
   node.addObject('SpatialGridContainer', cellWidth="0.75")
   node.addObject('SPHFluidForceField', radius="0.745", density="15", kernelType="1", viscosityType="2", viscosity="10", pressure="1000", surfaceTension="-1000", printLog="0")
   node.addObject('PlaneForceField', normal="1 0 0", d="-4", showPlane="1")
   node.addObject('PlaneForceField', normal="-1 0 0", d="-4", showPlane="1")
   node.addObject('PlaneForceField', normal="0.5 1 0.1", d="-4", showPlane="1")
   node.addObject('PlaneForceField', normal="0 0 1", d="-4", showPlane="1")
   node.addObject('PlaneForceField', normal="0 0 -1", d="-4", showPlane="1")