SphereForceField
Repulsion applied by a sphere toward the exterior 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 | Contacts | |
| center | sphere center | |
| radius | sphere radius | 1 |
| stiffness | force stiffness | 500 |
| damping | force damping | 5 |
| color | sphere color. (default=[0,0,1,1]) | 0 0 1 1 |
| localRange | optional range of local DOF indices. Any computation involving only indices outside of this range are discarded (useful for parallelization using mesh partitionning) | -1 -1 |
| bilateral | if true the sphere force field is applied on both sides | 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 |
Examples
Component/MechanicalLoad/SphereForceField.scn
<!-- Mechanical SphereForceField Example -->
<Node name="root" gravity="0.0 -2.0 0.0" dt="0.04">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<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.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField SphereForceField] -->
<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] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="hideBehaviorModels showForceFields hideCollisionModels hideVisualModels" />
<Node name="Floor">
<RegularGridTopology nx="2" ny="1" nz="2" xmin="20" xmax="-20" ymin="-3.05" ymax="-3.05" zmin="-20" zmax="20" />
<MechanicalObject />
<Node name="Visu">
<OglModel name="Visual" color="red" />
<IdentityMapping input="@.." output="@Visual" />
</Node>
</Node>
<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" />
<RegularGridTopology nx="20" ny="1" nz="20" xmin="12" xmax="-12" ymin="7" ymax="7" zmin="-12" zmax="12" />
<MechanicalObject />
<UniformMass totalMass="100" />
<BoxConstraint box="-12 7 12 -10 7 12 10 7 12 12 7 12" />
<MeshSpringForceField name="Springs" stiffness="1000" damping="0" />
<QuadBendingSprings name="Bend" stiffness="2000" damping="1" />
<!-- Two ForceFields mimicking collision : a sphere and plane model -->
<SphereForceField stiffness="1000" damping="1" center="0 1 3" radius="4" />
<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>
<Node name="Sphere">
<MeshOBJLoader name="meshLoader_0" filename="mesh/sphere.obj" scale="3.95" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" dx="0" dy="1" dz="3" color="blue" />
</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.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
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.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('DefaultAnimationLoop')
root.addObject('VisualStyle', displayFlags="hideBehaviorModels showForceFields hideCollisionModels hideVisualModels")
Floor = root.addChild('Floor')
Floor.addObject('RegularGridTopology', nx="2", ny="1", nz="2", xmin="20", xmax="-20", ymin="-3.05", ymax="-3.05", zmin="-20", zmax="20")
Floor.addObject('MechanicalObject')
Visu = Floor.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="red")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
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('RegularGridTopology', nx="20", ny="1", nz="20", xmin="12", xmax="-12", ymin="7", ymax="7", zmin="-12", zmax="12")
SquareCloth1.addObject('MechanicalObject')
SquareCloth1.addObject('UniformMass', totalMass="100")
SquareCloth1.addObject('BoxConstraint', box="-12 7 12 -10 7 12 10 7 12 12 7 12")
SquareCloth1.addObject('MeshSpringForceField', name="Springs", stiffness="1000", damping="0")
SquareCloth1.addObject('QuadBendingSprings', name="Bend", stiffness="2000", damping="1")
SquareCloth1.addObject('SphereForceField', stiffness="1000", damping="1", center="0 1 3", radius="4")
SquareCloth1.addObject('PlaneForceField', stiffness="1000", damping="20", normal="0 1 0", d="-3")
Visu = SquareCloth1.addChild('Visu')
Visu.addObject('OglModel', name="Visual", color="green")
Visu.addObject('IdentityMapping', input="@..", output="@Visual")
Sphere = root.addChild('Sphere')
Sphere.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/sphere.obj", scale="3.95", handleSeams="1")
Sphere.addObject('OglModel', name="Visual", src="@meshLoader_0", dx="0", dy="1", dz="3", color="blue")