TriangleFEMForceField
Triangular finite elements for static topology
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 |
| initialPoints | Initial Position | |
| method | large: large displacements, small: small displacements | large |
| poissonRatio | Poisson ratio in Hooke's law | 0.3 |
| youngModulus | Young modulus in Hooke's law | 1000 |
| thickness | Thickness of the elements | 1 |
| planeStrain | Plane strain or plane stress assumption | 0 |
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/TriangleFEMForceField.scn
<?xml version="1.0" ?>
<!-- Mechanical MassSpring Group Basic Example -->
<Node name="root" gravity="0 0 1" dt="0.05">
<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 [DiscreteIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [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.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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 [TriangleFEMForceField] -->
<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="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings showVisual" />
<CollisionPipeline verbose="0" name="CollisionPipeline" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" name="collision response" />
<DiscreteIntersection />
<DefaultAnimationLoop/>
<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 />
<UniformMass vertexMass="0.1" />
<RegularGridTopology nx="3" ny="3" nz="1" xmin="10" xmax="19" ymin="0" ymax="9" zmin="4" zmax="5" />
<FixedProjectiveConstraint indices="0 8" />
<TriangleFEMForceField name="FEM1" youngModulus="5000" poissonRatio="0.3" method="large" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel name="Visual" color="green" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
<Node name="M2">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject />
<UniformMass vertexMass="0.1" />
<RegularGridTopology nx="4" ny="4" nz="1" xmin="20" xmax="29" ymin="0" ymax="9" zmin="8" zmax="9" />
<FixedProjectiveConstraint indices="0 15" />
<TriangleFEMForceField name="FEM2" youngModulus="5000" poissonRatio="0.3" method="large" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel name="Visual" color="blue" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
<Node name="M3">
<EulerImplicitSolver name="cg_odesolver" printLog="false" />
<CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject />
<UniformMass vertexMass="0.1" />
<RegularGridTopology nx="10" ny="10" nz="1" xmin="30" xmax="39" ymin="0" ymax="9" zmin="12" zmax="13" />
<FixedProjectiveConstraint indices="0 9 99" />
<TriangleFEMForceField name="FEM3" youngModulus="50000" poissonRatio="0.3" method="large" />
<TriangleCollisionModel />
<Node name="Visu">
<OglModel name="Visual" color="yellow" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', gravity="0 0 1", dt="0.05")
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.Mapping.Linear")
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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showCollisionModels showMappings showVisual")
root.addObject('CollisionPipeline', verbose="0", name="CollisionPipeline")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('CollisionResponse', response="PenalityContactForceField", name="collision response")
root.addObject('DiscreteIntersection')
root.addObject('DefaultAnimationLoop')
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('UniformMass', vertexMass="0.1")
M1.addObject('RegularGridTopology', nx="3", ny="3", nz="1", xmin="10", xmax="19", ymin="0", ymax="9", zmin="4", zmax="5")
M1.addObject('FixedProjectiveConstraint', indices="0 8")
M1.addObject('TriangleFEMForceField', name="FEM1", youngModulus="5000", poissonRatio="0.3", method="large")
M1.addObject('TriangleCollisionModel')
Visu = M1.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="green")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
M2 = root.addChild('M2')
M2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
M2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
M2.addObject('MechanicalObject')
M2.addObject('UniformMass', vertexMass="0.1")
M2.addObject('RegularGridTopology', nx="4", ny="4", nz="1", xmin="20", xmax="29", ymin="0", ymax="9", zmin="8", zmax="9")
M2.addObject('FixedProjectiveConstraint', indices="0 15")
M2.addObject('TriangleFEMForceField', name="FEM2", youngModulus="5000", poissonRatio="0.3", method="large")
M2.addObject('TriangleCollisionModel')
Visu = M2.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="blue")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
M3 = root.addChild('M3')
M3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
M3.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
M3.addObject('MechanicalObject')
M3.addObject('UniformMass', vertexMass="0.1")
M3.addObject('RegularGridTopology', nx="10", ny="10", nz="1", xmin="30", xmax="39", ymin="0", ymax="9", zmin="12", zmax="13")
M3.addObject('FixedProjectiveConstraint', indices="0 9 99")
M3.addObject('TriangleFEMForceField', name="FEM3", youngModulus="50000", poissonRatio="0.3", method="large")
M3.addObject('TriangleCollisionModel')
Visu = M3.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="yellow")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
Benchmark/Accuracy/TriangleFEMForceField_compare.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.01" gravity="0 10 0">
<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.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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 [TriangleFEMForceField TriangularFEMForceField TriangularFEMForceFieldOptim] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Quad2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showVisual" />
<RegularGridTopology name="grid" n="40 1 40" min="0 0 0" max="10 0 10" />
<Node name="TriangularFEMForceField">
<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" />
<QuadSetTopologyContainer name="Quad_topo" src="@../grid" />
<QuadSetTopologyModifier name="Modifier" />
<QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<MechanicalObject name="TriangularFEMForceField_dof" />
<DiagonalMass totalMass="1.0" />
<FixedProjectiveConstraint indices="0 39" />
<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<Quad2TriangleTopologicalMapping name="TriangularFEMForceField_mapTopo" input="@../Quad_topo" output="@Triangle_topo" />
<TriangularFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" method="large" />
<Node name="Visu">
<OglModel name="TriangularFEMForceField_visu" color="red" />
<IdentityMapping name="TriangularFEMForceField_mapping" input="@../.." output="@." />
</Node>
</Node>
</Node>
<Node name="TriangularFEMForceFieldOptim">
<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" />
<QuadSetTopologyContainer name="Quad_topo" src="@../grid" />
<QuadSetTopologyModifier name="Modifier" />
<QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<MechanicalObject name="TriangularFEMForceFieldOptim_dof" />
<DiagonalMass totalMass="1.0" />
<FixedProjectiveConstraint indices="0 39" />
<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<Quad2TriangleTopologicalMapping name="TriangularFEMForceFieldOptim_mapTopo" input="@../Quad_topo" output="@Triangle_topo" />
<TriangularFEMForceFieldOptim name="FEM" youngModulus="1000" poissonRatio="0.3" method="large" />
<Node name="Visu">
<OglModel name="TriangularFEMForceFieldOptim_visu" color="blue" />
<IdentityMapping name="TriangularFEMForceFieldOptim_mapping" input="@../.." output="@." />
</Node>
</Node>
</Node>
<Node name="TriangleFEMForceField">
<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" />
<QuadSetTopologyContainer name="Quad_topo" src="@../grid" />
<QuadSetTopologyModifier name="Modifier" />
<QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<MechanicalObject name="TriangleFEMForceField_dof" />
<DiagonalMass totalMass="1.0" />
<FixedProjectiveConstraint indices="0 39" />
<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
<Quad2TriangleTopologicalMapping name="TriangleFEMForceField_mapTopo" input="@../Quad_topo" output="@Triangle_topo" />
<TriangleFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" method="large" />
<Node name="Visu">
<OglModel name="TriangleFEMForceField_visu" color="green" />
<IdentityMapping name="TriangleFEMForceField_mapping" input="@../.." output="@." />
</Node>
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.01", gravity="0 10 0")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
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.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('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop')
root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual")
root.addObject('RegularGridTopology', name="grid", n="40 1 40", min="0 0 0", max="10 0 10")
TriangularFEMForceField = root.addChild('TriangularFEMForceField')
TriangularFEMForceField.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
TriangularFEMForceField.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
TriangularFEMForceField.addObject('QuadSetTopologyContainer', name="Quad_topo", src="@../grid")
TriangularFEMForceField.addObject('QuadSetTopologyModifier', name="Modifier")
TriangularFEMForceField.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
TriangularFEMForceField.addObject('MechanicalObject', name="TriangularFEMForceField_dof")
TriangularFEMForceField.addObject('DiagonalMass', totalMass="1.0")
TriangularFEMForceField.addObject('FixedProjectiveConstraint', indices="0 39")
T = TriangularFEMForceField.addChild('T')
T.addObject('TriangleSetTopologyContainer', name="Triangle_topo")
T.addObject('TriangleSetTopologyModifier', name="Modifier")
T.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
T.addObject('Quad2TriangleTopologicalMapping', name="TriangularFEMForceField_mapTopo", input="@../Quad_topo", output="@Triangle_topo")
T.addObject('TriangularFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", method="large")
Visu = T.addChild('Visu')
Visu.addObject('OglModel', name="TriangularFEMForceField_visu", color="red")
Visu.addObject('IdentityMapping', name="TriangularFEMForceField_mapping", input="@../..", output="@.")
TriangularFEMForceFieldOptim = root.addChild('TriangularFEMForceFieldOptim')
TriangularFEMForceFieldOptim.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
TriangularFEMForceFieldOptim.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
TriangularFEMForceFieldOptim.addObject('QuadSetTopologyContainer', name="Quad_topo", src="@../grid")
TriangularFEMForceFieldOptim.addObject('QuadSetTopologyModifier', name="Modifier")
TriangularFEMForceFieldOptim.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
TriangularFEMForceFieldOptim.addObject('MechanicalObject', name="TriangularFEMForceFieldOptim_dof")
TriangularFEMForceFieldOptim.addObject('DiagonalMass', totalMass="1.0")
TriangularFEMForceFieldOptim.addObject('FixedProjectiveConstraint', indices="0 39")
T = TriangularFEMForceFieldOptim.addChild('T')
T.addObject('TriangleSetTopologyContainer', name="Triangle_topo")
T.addObject('TriangleSetTopologyModifier', name="Modifier")
T.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
T.addObject('Quad2TriangleTopologicalMapping', name="TriangularFEMForceFieldOptim_mapTopo", input="@../Quad_topo", output="@Triangle_topo")
T.addObject('TriangularFEMForceFieldOptim', name="FEM", youngModulus="1000", poissonRatio="0.3", method="large")
Visu = T.addChild('Visu')
Visu.addObject('OglModel', name="TriangularFEMForceFieldOptim_visu", color="blue")
Visu.addObject('IdentityMapping', name="TriangularFEMForceFieldOptim_mapping", input="@../..", output="@.")
TriangleFEMForceField = root.addChild('TriangleFEMForceField')
TriangleFEMForceField.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
TriangleFEMForceField.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
TriangleFEMForceField.addObject('QuadSetTopologyContainer', name="Quad_topo", src="@../grid")
TriangleFEMForceField.addObject('QuadSetTopologyModifier', name="Modifier")
TriangleFEMForceField.addObject('QuadSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
TriangleFEMForceField.addObject('MechanicalObject', name="TriangleFEMForceField_dof")
TriangleFEMForceField.addObject('DiagonalMass', totalMass="1.0")
TriangleFEMForceField.addObject('FixedProjectiveConstraint', indices="0 39")
T = TriangleFEMForceField.addChild('T')
T.addObject('TriangleSetTopologyContainer', name="Triangle_topo")
T.addObject('TriangleSetTopologyModifier', name="Modifier")
T.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo", template="Vec3")
T.addObject('Quad2TriangleTopologicalMapping', name="TriangleFEMForceField_mapTopo", input="@../Quad_topo", output="@Triangle_topo")
T.addObject('TriangleFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", method="large")
Visu = T.addChild('Visu')
Visu.addObject('OglModel', name="TriangleFEMForceField_visu", color="green")
Visu.addObject('IdentityMapping', name="TriangleFEMForceField_mapping", input="@../..", output="@.")