EllipsoidForceField
Repulsion applied by an ellipsoid toward the exterior or the interior Supports GPU-side computations using CUDA
Templates:
Vec1dVec2dVec3d
Target: Sofa.Component.MechanicalLoad
namespace: sofa::component::mechanicalload
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 |
| contacts | Vector of contacts | |
| center | ellipsoid center | |
| vradius | ellipsoid radius | |
| stiffness | force stiffness (positive to repulse outward, negative inward) | 500 |
| damping | force damping | 5 |
| color | ellipsoid color. (default=0,0.5,1.0,1.0) | 0 0.5 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 |
Examples
Component/MechanicalLoad/EllipsoidForceField.scn
<?xml version="1.0"?>
<!-- Mechanical EllipsoidForceField Example -->
<Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
<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 [SphereCollisionModel] -->
<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.Engine.Generate"/> <!-- Needed to use components [MergeVectors] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping SubsetMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [EllipsoidForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField QuadBendingSprings] -->
<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="showForceFields showVisual" />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="Response" />
<NewProximityIntersection alarmDistance="0.002" contactDistance="0.001" />
<DefaultAnimationLoop/>
<Node name="SquareCloth1">
<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 totalMass="100" />
<RegularGridTopology nx="20" ny="1" nz="20" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
<BoxROI name="box1" box="-12 7 12 -10 7 12" />
<BoxROI name="box2" box="10 7 12 12 7 12" />
<MergeVectors template="Data<int>" name="mergedFixedIndices" nbInputs="2" input1="@box1.indices" input2="@box2.indices" />
<FixedProjectiveConstraint name="ProjectiveFixedProjectiveConstraint" indices="@mergedFixedIndices.output" />
<MeshSpringForceField name="Springs" stiffness="2000" damping="0" />
<QuadBendingSprings name="Bend" stiffness="20" damping="0" />
<EllipsoidForceField stiffness="1000" damping="1" center="0 5 3" vradius="6 2 6" />
<!-- <EllipsoidForceField stiffness="-100" damping="0.1" center="0 10 3" vradius="20 10 20" color="1 0 0 1" />
<PlaneForceField stiffness="1000" damping="20" normal="0 1 0" d="-3" /> -->
<Node name="Visu">
<OglModel name="Visual" color="green" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
<Node>
<RegularGridTopology nx="4" ny="1" nz="4" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
<MechanicalObject />
<SphereCollisionModel radius="1.0" contactStiffness="1" />
<SubsetMapping radius="0.8"/>
</Node>
<!--
<Node name="Surf">
<MechanicalObject />
<RegularGridTopology
nx="100" ny="1" nz="100"
xmin="12" xmax="-12"
ymin="7" ymax="7"
zmin="-12" zmax="12" />
<IdentityMapping />
<TriangleCollisionModel />
</Node>
-->
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', gravity="0.0 -2.0 0.0", dt="0.04")
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.Engine.Generate")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.MechanicalLoad")
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.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields showVisual")
root.addObject('CollisionPipeline', verbose="0")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('CollisionResponse', name="Response")
root.addObject('NewProximityIntersection', alarmDistance="0.002", contactDistance="0.001")
root.addObject('DefaultAnimationLoop')
SquareCloth1 = root.addChild('SquareCloth1')
SquareCloth1.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
SquareCloth1.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
SquareCloth1.addObject('MechanicalObject')
SquareCloth1.addObject('UniformMass', totalMass="100")
SquareCloth1.addObject('RegularGridTopology', nx="20", ny="1", nz="20", xmin="12", xmax="-12", ymin="7", ymax="7", zmin="-12", zmax="12")
SquareCloth1.addObject('BoxROI', name="box1", box="-12 7 12 -10 7 12")
SquareCloth1.addObject('BoxROI', name="box2", box="10 7 12 12 7 12")
SquareCloth1.addObject('MergeVectors', template="Data<int>", name="mergedFixedIndices", nbInputs="2", input1="@box1.indices", input2="@box2.indices")
SquareCloth1.addObject('FixedProjectiveConstraint', name="ProjectiveFixedProjectiveConstraint", indices="@mergedFixedIndices.output")
SquareCloth1.addObject('MeshSpringForceField', name="Springs", stiffness="2000", damping="0")
SquareCloth1.addObject('QuadBendingSprings', name="Bend", stiffness="20", damping="0")
SquareCloth1.addObject('EllipsoidForceField', stiffness="1000", damping="1", center="0 5 3", vradius="6 2 6")
Visu = SquareCloth1.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="green")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
SquareCloth1 = SquareCloth1.addChild('SquareCloth1')
SquareCloth1.addObject('RegularGridTopology', nx="4", ny="1", nz="4", xmin="12", xmax="-12", ymin="7", ymax="7", zmin="-12", zmax="12")
SquareCloth1.addObject('MechanicalObject')
SquareCloth1.addObject('SphereCollisionModel', radius="1.0", contactStiffness="1")
SquareCloth1.addObject('SubsetMapping', radius="0.8")