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StaticSolver

Static ODE Solver

Target: Sofa.Component.ODESolver.Backward

namespace: sofa::component::odesolver::backward

parents:

  • OdeSolver
  • LinearSolverAccessor

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
newton_iterations Number of newton iterations between each load increments (normally, one load increment per simulation time-step. 1
absolute_correction_tolerance_threshold Convergence criterion: The newton iterations will stop when the norm |du| is smaller than this threshold. 1e-05
relative_correction_tolerance_threshold Convergence criterion: The newton iterations will stop when the ratio |du| / |U| is smaller than this threshold. 1e-05
absolute_residual_tolerance_threshold Convergence criterion: The newton iterations will stop when the norm |R| is smaller than this threshold. Use a negative value to disable this criterion. 1e-05
relative_residual_tolerance_threshold Convergence criterion: The newton iterations will stop when the ratio |R|/|R0| is smaller than this threshold. Use a negative value to disable this criterion. 1e-05
should_diverge_when_residual_is_growing Divergence criterion: The newton iterations will stop when the residual is greater than the one from the previous iteration. 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
linearSolver Linear solver used by this component

Examples

Component/ODESolver/Backward/StaticSolver.scn

<Node name="root" gravity="-1.8 0 100"  dt="1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <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 [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
    <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.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <DefaultAnimationLoop/>

    <VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
    <Node name="Reference">
        <MeshOBJLoader name="meshLoader_1" filename="mesh/truthcylinder1-bent.obj" scale="0.95" handleSeams="1" />
        <OglModel src="@meshLoader_1" dx="0" dy="-1" dz="0" color="green" />
    </Node>
    <Node name="Springs">

        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh" />
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="15" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <MeshSpringForceField name="Spring" tetrasStiffness="1870" tetrasDamping="0" />
        <Node>
            <MeshOBJLoader name="meshLoader_0" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="yellow" dx="15" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="CoFEM">
        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh"/>
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="30" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <TetrahedronFEMForceField name="FEM" youngModulus="1116" poissonRatio="0.49" method="polar" />
        <Node>
            <MeshOBJLoader name="meshLoader_3" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="cyan" dx="30" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
    <Node name="LinearFEM">
        <StaticSolver  />
        <CGLinearSolver iterations="100" tolerance="1e-5" threshold="1e-5"/>
        <MeshGmshLoader name="loader" filename="mesh/truthcylinder1.msh"/>
        <MeshTopology src="@loader" />
        <MechanicalObject src="@loader" dx="45" />
        <UniformMass totalMass="15" />
        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345" />
        <TetrahedronFEMForceField name="FEM" youngModulus="1116" poissonRatio="0.49" method="small" />
        <Node>
            <MeshOBJLoader name="meshLoader_2" filename="mesh/truthcylinder1.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_2" color="red" dx="45" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', gravity="-1.8 0 100", dt="1")
    root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    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.FEM.Elastic")
    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.Component.Visual")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields")

    Reference = root.addChild('Reference')
    Reference.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/truthcylinder1-bent.obj", scale="0.95", handleSeams="1")
    Reference.addObject('OglModel', src="@meshLoader_1", dx="0", dy="-1", dz="0", color="green")

    Springs = root.addChild('Springs')
    Springs.addObject('StaticSolver')
    Springs.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
    Springs.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
    Springs.addObject('MeshTopology', src="@loader")
    Springs.addObject('MechanicalObject', src="@loader", dx="15")
    Springs.addObject('UniformMass', totalMass="15")
    Springs.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
    Springs.addObject('MeshSpringForceField', name="Spring", tetrasStiffness="1870", tetrasDamping="0")

    Springs = Springs.addChild('Springs')
    Springs.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/truthcylinder1.obj", handleSeams="1")
    Springs.addObject('OglModel', name="Visual", src="@meshLoader_0", color="yellow", dx="15")
    Springs.addObject('BarycentricMapping', input="@..", output="@Visual")

    CoFEM = root.addChild('CoFEM')
    CoFEM.addObject('StaticSolver')
    CoFEM.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
    CoFEM.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
    CoFEM.addObject('MeshTopology', src="@loader")
    CoFEM.addObject('MechanicalObject', src="@loader", dx="30")
    CoFEM.addObject('UniformMass', totalMass="15")
    CoFEM.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
    CoFEM.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1116", poissonRatio="0.49", method="polar")

    CoFEM = CoFEM.addChild('CoFEM')
    CoFEM.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/truthcylinder1.obj", handleSeams="1")
    CoFEM.addObject('OglModel', name="Visual", src="@meshLoader_3", color="cyan", dx="30")
    CoFEM.addObject('BarycentricMapping', input="@..", output="@Visual")

    LinearFEM = root.addChild('LinearFEM')
    LinearFEM.addObject('StaticSolver')
    LinearFEM.addObject('CGLinearSolver', iterations="100", tolerance="1e-5", threshold="1e-5")
    LinearFEM.addObject('MeshGmshLoader', name="loader", filename="mesh/truthcylinder1.msh")
    LinearFEM.addObject('MeshTopology', src="@loader")
    LinearFEM.addObject('MechanicalObject', src="@loader", dx="45")
    LinearFEM.addObject('UniformMass', totalMass="15")
    LinearFEM.addObject('FixedProjectiveConstraint', indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 268 269 270 271 343 345")
    LinearFEM.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1116", poissonRatio="0.49", method="small")

    LinearFEM = LinearFEM.addChild('LinearFEM')
    LinearFEM.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/truthcylinder1.obj", handleSeams="1")
    LinearFEM.addObject('OglModel', name="Visual", src="@meshLoader_2", color="red", dx="45")
    LinearFEM.addObject('BarycentricMapping', input="@..", output="@Visual")