MeshMatrixMass
Define a specific mass for each particle Supports GPU-side computations using CUDA
Templates:
CudaVec1d,CudaVec1dCudaVec1d,CudaVec2dCudaVec1d,CudaVec3dCudaVec1f,CudaVec1fCudaVec1f,CudaVec2fCudaVec1f,CudaVec3fCudaVec2d,CudaVec2dCudaVec2d,CudaVec3dCudaVec2f,CudaVec2fCudaVec2f,CudaVec3fCudaVec3d,CudaVec3dCudaVec3f,CudaVec3f
Target: SofaCUDA
namespace: sofa::component::mass
parents:
Mass
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 |
| separateGravity | add separately gravity to velocity computation | 0 |
| rayleighMass | Rayleigh damping - mass matrix coefficient | 0 |
| massDensity | Specify real and strictly positive value(s) for the mass density. If unspecified or wrongly set, the totalMass information is used. | |
| totalMass | Specify the total mass resulting from all particles. If unspecified or wrongly set, the default value is used: totalMass = 1.0 | 1 |
| vertexMass | internal values of the particles masses on vertices, supporting topological changes | |
| edgeMass | internal values of the particles masses on edges, supporting topological changes | |
| computeMassOnRest | If true, the mass of every element is computed based on the rest position rather than the position | 0 |
| lumping | boolean if you need to use a lumped mass matrix | 0 |
| printMass | boolean if you want to check the mass conservation | 0 |
| graph | Graph of the controlled potential | |
| Visualization | ||
| showGravityCenter | display the center of gravity of the system | 0 |
| showAxisSizeFactor | factor length of the axis displayed (only used for rigids) | 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 |
| topology | link to the topology container |
| geometryState | link to the MechanicalObject associated with the geometry |
Examples
Component/Mass/MeshMatrixMass.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.005">
<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 [DiscreteIntersection] -->
<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.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader SphereLoader] -->
<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 [MeshMatrixMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer] -->
<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/>
<CollisionPipeline verbose="0" name="CollisionPipeline" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse response="PenalityContactForceField" name="collision response" />
<DiscreteIntersection />
<MeshGmshLoader name="MeshLoader" filename="mesh/liver.msh" />
<MeshOBJLoader name="LiverSurface" filename="mesh/liver-smooth.obj" />
<Node name="Liver">
<EulerImplicitSolver name="integration scheme" />
<CGLinearSolver name="linear solver" iterations="1000" tolerance="1e-9" threshold="1e-9"/>
<MechanicalObject name="dofs" src="@../MeshLoader"/>
<!-- Container for the tetrahedra-->
<TetrahedronSetTopologyContainer name="TetraTopo" src="@../MeshLoader"/>
<TetrahedronSetGeometryAlgorithms name="GeomAlgo" />
<MeshMatrixMass totalMass="60" name="SparseMass" topology="@TetraTopo" />
<TetrahedralCorotationalFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.45" youngModulus="5000" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="3 39 64" />
<Node name="Visu" >
<OglModel name="VisualModel" src="@../../LiverSurface" color="cyan"/>
<BarycentricMapping name="VisualMapping" input="@../dofs" output="@VisualModel" />
</Node>
<Node name="Surf" >
<SphereLoader filename="mesh/liver.sph" />
<MechanicalObject name="spheres" position="@[-1].position" />
<SphereCollisionModel name="CollisionModel" listRadius="@[-2].listRadius"/>
<BarycentricMapping name="CollisionMapping" input="@../dofs" output="@spheres" />
</Node>
</Node>
</Node>
def createScene(rootNode):
root = rootNode.addChild('root', dt="0.005")
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.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.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('DefaultAnimationLoop')
root.addObject('CollisionPipeline', verbose="0", name="CollisionPipeline")
root.addObject('BruteForceBroadPhase')
root.addObject('BVHNarrowPhase')
root.addObject('CollisionResponse', response="PenalityContactForceField", name="collision response")
root.addObject('DiscreteIntersection')
root.addObject('MeshGmshLoader', name="MeshLoader", filename="mesh/liver.msh")
root.addObject('MeshOBJLoader', name="LiverSurface", filename="mesh/liver-smooth.obj")
Liver = root.addChild('Liver')
Liver.addObject('EulerImplicitSolver', name="integration scheme")
Liver.addObject('CGLinearSolver', name="linear solver", iterations="1000", tolerance="1e-9", threshold="1e-9")
Liver.addObject('MechanicalObject', name="dofs", src="@../MeshLoader")
Liver.addObject('TetrahedronSetTopologyContainer', name="TetraTopo", src="@../MeshLoader")
Liver.addObject('TetrahedronSetGeometryAlgorithms', name="GeomAlgo")
Liver.addObject('MeshMatrixMass', totalMass="60", name="SparseMass", topology="@TetraTopo")
Liver.addObject('TetrahedralCorotationalFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.45", youngModulus="5000")
Liver.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="3 39 64")
Visu = Liver.addChild('Visu')
Visu.addObject('OglModel', name="VisualModel", src="@../../LiverSurface", color="cyan")
Visu.addObject('BarycentricMapping', name="VisualMapping", input="@../dofs", output="@VisualModel")
Surf = Liver.addChild('Surf')
Surf.addObject('SphereLoader', filename="mesh/liver.sph")
Surf.addObject('MechanicalObject', name="spheres", position="@[-1].position")
Surf.addObject('SphereCollisionModel', name="CollisionModel", listRadius="@[-2].listRadius")
Surf.addObject('BarycentricMapping', name="CollisionMapping", input="@../dofs", output="@spheres")