HexahedronFEMForceField

Hexahedral finite elements Hexahedron FEM ForceField Supports GPU-side computations using CUDA

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
method	"large" or "polar" or "small" displacements	large
poissonRatio	FEM Poisson Ratio in Hooke's law [0,0.5[	0.45
youngModulus	FEM Young's modulus in Hooke's law	5000
updateStiffnessMatrix		0
gatherPt	number of dof accumulated per threads during the gather operation (Only use in GPU version)
gatherBsize	number of dof accumulated per threads during the gather operation (Only use in GPU version)
stiffnessMatrices	Stiffness matrices per element (K_i)
initialPoints	Initial Position
Visualization
drawing	draw the forcefield if true	1
drawPercentageOffset	size of the hexa	0.15

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/HexahedronFEMForceField.scn

XMLPython

<?xml version="1.0" ?>
<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 TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
    <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] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="M1">
        <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" template="CompressedRowSparseMatrixMat3x3"/>
        <MechanicalObject />
        <UniformMass vertexMass="1" />
        <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
        <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" method="large" />
        <TriangleCollisionModel />
        <LineCollisionModel />
        <PointCollisionModel />
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.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.Constraint.Projective")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    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.Grid")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
    root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
    root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

    M1 = root.addChild('M1')
    M1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    M1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9", template="CompressedRowSparseMatrixMat3x3")
    M1.addObject('MechanicalObject')
    M1.addObject('UniformMass', vertexMass="1")
    M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
    M1.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15")
    M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
    M1.addObject('TriangleCollisionModel')
    M1.addObject('LineCollisionModel')
    M1.addObject('PointCollisionModel')

Component/SolidMechanics/FEM/HexahedronFEMForceFieldAndMass.scn

XMLPython

<?xml version="1.0"?>
<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 TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceFieldAndMass] -->
    <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] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showForceFields" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.3" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="M1">
        <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 />
        <RegularGridTopology nx="4" ny="4" nz="20" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
        <HexahedronFEMForceFieldAndMass name="FEM" youngModulus="40000" poissonRatio="0.3" method="large" density="1" />
        <TriangleCollisionModel />
        <LineCollisionModel />
        <PointCollisionModel />
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.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.Constraint.Projective")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    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.Grid")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
    root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.3")
    root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

    M1 = root.addChild('M1')
    M1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    M1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    M1.addObject('MechanicalObject')
    M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
    M1.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15")
    M1.addObject('HexahedronFEMForceFieldAndMass', name="FEM", youngModulus="40000", poissonRatio="0.3", method="large", density="1")
    M1.addObject('TriangleCollisionModel')
    M1.addObject('LineCollisionModel')
    M1.addObject('PointCollisionModel')