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MeshSpringForceField

Spring force field acting along the edges of a mesh Supports GPU-side computations using CUDA

Templates:

  • Vec1d
  • Vec2d
  • Vec3d

Target: Sofa.Component.SolidMechanics.Spring

namespace: sofa::component::solidmechanics::spring

parents:

  • StiffSpringForceField

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
stiffness uniform stiffness for the all springs 100
damping uniform damping for the all springs 5
spring pairs of indices, stiffness, damping, rest length
springsIndices1 List of indices in springs from the first mstate
springsIndices2 List of indices in springs from the second mstate
indices1 Indices of the source points on the first model
indices2 Indices of the fixed points on the second model
lengths List of lengths to create the springs. Must have the same than indices1 & indices2, or if only one element, it will be applied to all springs. If empty, 0 will be applied everywhere
linesStiffness Stiffness for the Lines 0
linesDamping Damping for the Lines 0
trianglesStiffness Stiffness for the Triangles 0
trianglesDamping Damping for the Triangles 0
quadsStiffness Stiffness for the Quads 0
quadsDamping Damping for the Quads 0
tetrahedraStiffness Stiffness for the Tetrahedra 0
tetrahedraDamping Damping for the Tetrahedra 0
cubesStiffness Stiffness for the Cubes 0
cubesDamping Damping for the Cubes 0
noCompression Only consider elongation 0
localRange optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) 4294967295 4294967295
Visualization
showArrowSize size of the axis 0.01
drawMode The way springs will be drawn: - 0: Line - 1:Cylinder - 2: Arrow 0
drawMinElongationRange Min range of elongation (red eongation - blue neutral - green compression) 8
drawMaxElongationRange Max range of elongation (red eongation - blue neutral - green compression) 15
drawSpringSize Size of drawed lines 8

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
object1 First object associated to this component
object2 Second object associated to this component
topology link to the topology container

Examples

Component/SolidMechanics/Spring/MeshSpringForceField.scn

<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -9 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 [TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <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.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
    <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.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <DefaultAnimationLoop/>
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <NewProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="ChainSpring">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_3" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="gray" />
        </Node>
        <Node name="TorusSpring1">
            <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
            <CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" translation="2.5 0 0"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="1000" tetrasDamping="0" />
            <Node name="Visu1">
                <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" translation="2.5 0 0" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_0" color="green"/>
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf1">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" translation="2.5 0 0"/>
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring2">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" translation="5 0 0"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="200" tetrasDamping="0" />
            <Node name="Visu2">
                <MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" translation="5 0 0" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_2" color="blue"/>
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" translation="5 0 0"/>
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader"  />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring3">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" translation="7.5 0 0"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <UniformMass totalMass="0.5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="0" />
            <Node name="Visu3">
                <MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" translation="7.5 0 0" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" color="green"/>
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf3">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" translation="7.5 0 0"/>
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader"  />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring4">
            <EulerImplicitSolver name="cg_odesolver" printLog="false" />
            <CGLinearSolver iterations="100" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" translation="10 0 0"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader"  />
            <UniformMass totalMass="0.5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="0" />
            <Node name="Visu4">
                <MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" translation="10 0 0" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_4" color="red"/>
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf4">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" translation="10 0 0"/>
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader"  />
                <TriangleCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.01", gravity="0 -9 0")
    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.IO.Mesh")
    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.Spring")
    root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('DefaultAnimationLoop')
    root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.5", contactDistance="0.2")
    root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

    ChainSpring = root.addChild('ChainSpring')

    TorusFixed = ChainSpring.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_3", color="gray")

    TorusSpring1 = ChainSpring.addChild('TorusSpring1')
    TorusSpring1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
    TorusSpring1.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    TorusSpring1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", translation="2.5 0 0")
    TorusSpring1.addObject('MeshTopology', src="@loader")
    TorusSpring1.addObject('MechanicalObject', src="@loader")
    TorusSpring1.addObject('UniformMass', totalMass="5")
    TorusSpring1.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="1000", tetrasDamping="0")

    Visu1 = TorusSpring1.addChild('Visu1')
    Visu1.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", translation="2.5 0 0", handleSeams="1")
    Visu1.addObject('OglModel', name="Visual", src="@meshLoader_0", color="green")
    Visu1.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf1 = TorusSpring1.addChild('Surf1')
    Surf1.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", translation="2.5 0 0")
    Surf1.addObject('MeshTopology', src="@loader")
    Surf1.addObject('MechanicalObject', src="@loader")
    Surf1.addObject('TriangleCollisionModel')
    Surf1.addObject('BarycentricMapping')

    TorusSpring2 = ChainSpring.addChild('TorusSpring2')
    TorusSpring2.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
    TorusSpring2.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    TorusSpring2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh", translation="5 0 0")
    TorusSpring2.addObject('MeshTopology', src="@loader")
    TorusSpring2.addObject('MechanicalObject', src="@loader")
    TorusSpring2.addObject('UniformMass', totalMass="5")
    TorusSpring2.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="200", tetrasDamping="0")

    Visu2 = TorusSpring2.addChild('Visu2')
    Visu2.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", translation="5 0 0", handleSeams="1")
    Visu2.addObject('OglModel', name="Visual", src="@meshLoader_2", color="blue")
    Visu2.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj", translation="5 0 0")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusSpring3 = ChainSpring.addChild('TorusSpring3')
    TorusSpring3.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
    TorusSpring3.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    TorusSpring3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh", translation="7.5 0 0")
    TorusSpring3.addObject('MeshTopology', src="@loader")
    TorusSpring3.addObject('MechanicalObject', src="@loader")
    TorusSpring3.addObject('UniformMass', totalMass="0.5")
    TorusSpring3.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="0")

    Visu3 = TorusSpring3.addChild('Visu3')
    Visu3.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", translation="7.5 0 0", handleSeams="1")
    Visu3.addObject('OglModel', name="Visual", src="@meshLoader_1", color="green")
    Visu3.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf3 = TorusSpring3.addChild('Surf3')
    Surf3.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj", translation="7.5 0 0")
    Surf3.addObject('MeshTopology', src="@loader")
    Surf3.addObject('MechanicalObject', src="@loader")
    Surf3.addObject('TriangleCollisionModel')
    Surf3.addObject('BarycentricMapping')

    TorusSpring4 = ChainSpring.addChild('TorusSpring4')
    TorusSpring4.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false")
    TorusSpring4.addObject('CGLinearSolver', iterations="100", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
    TorusSpring4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh", translation="10 0 0")
    TorusSpring4.addObject('MeshTopology', src="@loader")
    TorusSpring4.addObject('MechanicalObject', src="@loader")
    TorusSpring4.addObject('UniformMass', totalMass="0.5")
    TorusSpring4.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="0")

    Visu4 = TorusSpring4.addChild('Visu4')
    Visu4.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus2.obj", translation="10 0 0", handleSeams="1")
    Visu4.addObject('OglModel', name="Visual", src="@meshLoader_4", color="red")
    Visu4.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf4 = TorusSpring4.addChild('Surf4')
    Surf4.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj", translation="10 0 0")
    Surf4.addObject('MeshTopology', src="@loader")
    Surf4.addObject('MechanicalObject', src="@loader")
    Surf4.addObject('TriangleCollisionModel')
    Surf4.addObject('BarycentricMapping')