LinearForceField
Linearly interpolated force applied to given degrees of freedom Supports GPU-side computation using CUDA
Templates:
Rigid3dVec1dVec2dVec3dVec6d
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 |
| points | points where the force is applied | |
| force | applied force to all points | 1 |
| times | key times for the interpolation | |
| forces | forces corresponding to the key times | |
| arrowSizeCoef | Size of the drawn arrows (0->no arrows, sign->direction of drawing | 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/MechanicalLoad/LinearForceField.scn
<Node name="root" dt="0.005" gravity="0 0 0">
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [LinearForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Forward"/> <!-- Needed to use components [EulerExplicitSolver] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<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" />
<DefaultAnimationLoop/>
<Node name="TorusRigidX">
<EulerExplicitSolver />
<CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
<UniformMass />
<!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
<LinearForceField points="0" forces="0 0 0 0 0 0 1 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 0 0 0 0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" scale="0.3" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
</Node>
<Node name="TorusRigidY">
<EulerExplicitSolver />
<CGLinearSolver iterations="25" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="2" dy="2" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
<UniformMass />
<!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
<LinearForceField points="0" forces="0 0 0 0 0 0 0 1 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 0 0 0 0 0 0 0 0" force="2.0" times="0 4 8 10 12" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus.obj" scale="0.3" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.005", gravity="0 0 0")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Forward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('DefaultAnimationLoop')
TorusRigidX = root.addChild('TorusRigidX')
TorusRigidX.addObject('EulerExplicitSolver')
TorusRigidX.addObject('CGLinearSolver', iterations="25", threshold="0.00000001", tolerance="1e-5")
TorusRigidX.addObject('MechanicalObject', template="Rigid3", dx="2", dy="0", dz="0", rx="0", ry="0", rz="0", scale="1.0")
TorusRigidX.addObject('UniformMass')
TorusRigidX.addObject('LinearForceField', points="0", forces="0 0 0 0 0 0 1 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 0 0 0 0 0 0 0 0 0", force="2.0", times="0 4 8 10 12")
Visu = TorusRigidX.addChild('Visu')
Visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", scale="0.3", handleSeams="1")
Visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray")
Visu.addObject('RigidMapping', input="@..", output="@Visual")
TorusRigidY = root.addChild('TorusRigidY')
TorusRigidY.addObject('EulerExplicitSolver')
TorusRigidY.addObject('CGLinearSolver', iterations="25", threshold="0.00000001", tolerance="1e-5")
TorusRigidY.addObject('MechanicalObject', template="Rigid3", dx="2", dy="2", dz="0", rx="0", ry="0", rz="0", scale="1.0")
TorusRigidY.addObject('UniformMass')
TorusRigidY.addObject('LinearForceField', points="0", forces="0 0 0 0 0 0 0 1 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 0 0 0 0 0 0 0 0", force="2.0", times="0 4 8 10 12")
Visu = TorusRigidY.addChild('Visu')
Visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus.obj", scale="0.3", handleSeams="1")
Visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray")
Visu.addObject('RigidMapping', input="@..", output="@Visual")