FastTetrahedralCorotationalForceField

Fast Corotational Tetrahedral Mesh

Templates:

• Vec3d

Target: Sofa.Component.SolidMechanics.FEM.Elastic

namespace: sofa::component::solidmechanics::fem::elastic

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
isCompliance	Consider the component as a compliance, else as a stiffness	0
rayleighStiffness	Rayleigh damping - stiffness matrix coefficient	0
pointInfo	Internal point data
edgeInfo	Internal edge data
tetrahedronInfo	Internal tetrahedron data
method	method for rotation computation :"qr" (by QR) or "polar" or "polar2" or "none" (Linear elastic)	qr
poissonRatio	Poisson ratio in Hooke's law	0.45
youngModulus	Young modulus in Hooke's law	5000
Visualization
drawing	draw the forcefield if true	1
drawColor1	draw color for faces 1	0 0 1 1
drawColor2	draw color for faces 2	0 0.5 1 1
drawColor3	draw color for faces 3	0 1 1 1
drawColor4	draw color for faces 4	0.5 1 1 1

Links:

Name	Description
context	Graph Node containing this object (or BaseContext::getDefault() if no graph is used)
slaves	Sub-objects used internally by this object
master	nullptr for regular objects, or master object for which this object is one sub-objects
mechanicalStates	List of mechanical states to which this component is associated
mstate	MechanicalState used by this component
topology	link to the topology container

Examples

Component/SolidMechanics/FEM/FastTetrahedralCorotationalForceField.scn

XMLPython

<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 0">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->
    <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.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />

    <Node name="BeamFEM_SMALL">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" />

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="small"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>


    <Node name="BeamFEM_LARGE">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="11 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="large"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

    <Node name="BeamFEM_POLAR">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="22 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo" />
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="polar"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

    <Node name="BeamFEM_polar2">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <EigenSimplicialLDLT template="CompressedRowSparseMatrixMat3x3"/>

        <RegularGridTopology name="grid" min="-5 -5 0" max="5 5 40" n="5 5 20"/>
        <MechanicalObject template="Vec3" translation="33 0 0"/>

        <TetrahedronSetTopologyContainer name="Tetra_topo"/>
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <Hexa2TetraTopologicalMapping input="@grid" output="@Tetra_topo" />

        <DiagonalMass massDensity="0.2" />
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="polar2"/>

        <BoxROI template="Vec3" name="box_roi" box="-6 -6 -1 50 6 0.1" drawBoxes="1" />
        <FixedProjectiveConstraint template="Vec3" indices="@box_roi.indices" />
    </Node>

</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.01", gravity="0 -9 0")
    root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
    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.Dynamic")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")

    BeamFEM_SMALL = root.addChild('BeamFEM_SMALL')
    BeamFEM_SMALL.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    BeamFEM_SMALL.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
    BeamFEM_SMALL.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
    BeamFEM_SMALL.addObject('MechanicalObject', template="Vec3")
    BeamFEM_SMALL.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
    BeamFEM_SMALL.addObject('TetrahedronSetTopologyModifier', name="Modifier")
    BeamFEM_SMALL.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
    BeamFEM_SMALL.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
    BeamFEM_SMALL.addObject('DiagonalMass', massDensity="0.2")
    BeamFEM_SMALL.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="small")
    BeamFEM_SMALL.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
    BeamFEM_SMALL.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

    BeamFEM_LARGE = root.addChild('BeamFEM_LARGE')
    BeamFEM_LARGE.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    BeamFEM_LARGE.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
    BeamFEM_LARGE.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
    BeamFEM_LARGE.addObject('MechanicalObject', template="Vec3", translation="11 0 0")
    BeamFEM_LARGE.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
    BeamFEM_LARGE.addObject('TetrahedronSetTopologyModifier', name="Modifier")
    BeamFEM_LARGE.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
    BeamFEM_LARGE.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
    BeamFEM_LARGE.addObject('DiagonalMass', massDensity="0.2")
    BeamFEM_LARGE.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="large")
    BeamFEM_LARGE.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
    BeamFEM_LARGE.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

    BeamFEM_POLAR = root.addChild('BeamFEM_POLAR')
    BeamFEM_POLAR.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    BeamFEM_POLAR.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
    BeamFEM_POLAR.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
    BeamFEM_POLAR.addObject('MechanicalObject', template="Vec3", translation="22 0 0")
    BeamFEM_POLAR.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
    BeamFEM_POLAR.addObject('TetrahedronSetTopologyModifier', name="Modifier")
    BeamFEM_POLAR.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
    BeamFEM_POLAR.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
    BeamFEM_POLAR.addObject('DiagonalMass', massDensity="0.2")
    BeamFEM_POLAR.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="polar")
    BeamFEM_POLAR.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
    BeamFEM_POLAR.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")

    BeamFEM_polar2 = root.addChild('BeamFEM_polar2')
    BeamFEM_polar2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    BeamFEM_polar2.addObject('EigenSimplicialLDLT', template="CompressedRowSparseMatrixMat3x3")
    BeamFEM_polar2.addObject('RegularGridTopology', name="grid", min="-5 -5 0", max="5 5 40", n="5 5 20")
    BeamFEM_polar2.addObject('MechanicalObject', template="Vec3", translation="33 0 0")
    BeamFEM_polar2.addObject('TetrahedronSetTopologyContainer', name="Tetra_topo")
    BeamFEM_polar2.addObject('TetrahedronSetTopologyModifier', name="Modifier")
    BeamFEM_polar2.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
    BeamFEM_polar2.addObject('Hexa2TetraTopologicalMapping', input="@grid", output="@Tetra_topo")
    BeamFEM_polar2.addObject('DiagonalMass', massDensity="0.2")
    BeamFEM_polar2.addObject('FastTetrahedralCorotationalForceField', name="FEM", youngModulus="1000", poissonRatio="0.4", method="polar2")
    BeamFEM_polar2.addObject('BoxROI', template="Vec3", name="box_roi", box="-6 -6 -1 50 6 0.1", drawBoxes="1")
    BeamFEM_polar2.addObject('FixedProjectiveConstraint', template="Vec3", indices="@box_roi.indices")