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Merged
alxbilger merged 11 commits into from
May 26, 2025
Merged

[Examples] Add simple example scenes #15

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7f3759b
[examples] Update scene
Apr 11, 2025
f908a4b
clean example from folder xml/combo
Apr 24, 2025
e12b219
fix paths 200shellComputationAnevrism
Apr 24, 2025
1fed94f
remove comments + move LCPConstraintSolver
Apr 25, 2025
d0dcb2a
clean examples 30/04
Apr 30, 2025
304af46
fix last commit
May 5, 2025
e6a60e9
Added example scenes
May 16, 2025
2fcedad
Merge commit '9843409c9f0ed8401bb3364f7eea901954ffaa7f' into develop
May 16, 2025
a0c0f27
fix example scenes
May 22, 2025
d914b8b
Delete doc/VRIPHYS2012/vriphys2012.pdf
Lucas-TJ May 22, 2025
5f4a81d
Delete doc/Vrst2013/vrst2013.pdf
Lucas-TJ May 22, 2025
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57 changes: 42 additions & 15 deletions examples/xml/testClampedSquare.scn
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Original file line number Diff line number Diff line change
@@ -1,33 +1,60 @@
<Node name="root" dt="0.01" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showBoundingTree="0" showVisualModels="1" gravity="0 0 0">
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 0 0">
<Node name="plugins">
<RequiredPlugin name="Shell"/>
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<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] -->
<RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->
</Node>

<VisualStyle displayFlags="showBehaviorModels hideMappings hideForceFields showVisualModels"/>
<DefaultAnimationLoop/>

<Node name="SmallSquare" activated="true">
<!-- <EulerImplicitSolver/>-->
<StaticSolver/>
<EulerImplicitSolver/>
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@alxbilger alxbilger May 23, 2025

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Why did you change the solver here?

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@Lucas-TJ Lucas-TJ May 23, 2025

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Because when i used StaticSolver, many problems appear. So i decide to use EulerImplicitSolver (It was in comment at the beginning). Would it be better to use StaticSolver ?

<!--<StaticSolver/>-->
<CGLinearSolver iterations="500" tolerance="1e-15" threshold="1e-15"/>
<!-- <SparseLDLSolver name="SparseLDL Solver" printLog="false" />-->
<TriangleSetTopologyContainer name="trianglesTopo" filename="../mesh/square5x5.obj"/>
<MechanicalObject name="tri" template="Rigid"/>
<MeshOBJLoader name="loader" filename="../../../Shell/mesh/square5x5.obj"/>
<TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
<MechanicalObject name="tri" template="Rigid3" topology="@trianglesTopo" />

<!-- <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->
<!-- <UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.001" totalmass="0.1" />-->

<BoxROI name="Side1" box="-5.1 -5.1 -0.1 -4.9 5.1 0.1" drawSize="0"/>
<FixedConstraint indices="@Side1.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@Side1.indices" drawSize="0"/>
<BoxROI name="Side2" box="-5.1 5.1 -0.1 5.1 4.9 0.1" drawSize="0"/>
<FixedConstraint indices="@Side2.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@Side2.indices" drawSize="0"/>
<BoxROI name="Side3" box="5.1 5.1 -0.1 4.9 -5.1 0.1" drawSize="0"/>
<FixedConstraint indices="@Side3.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@Side3.indices" drawSize="0"/>
<BoxROI name="Side4" box="5.1 -5.1 -0.1 -5.1 -4.9 0.1" drawSize="0"/>
<FixedConstraint indices="@Side4.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@Side4.indices" drawSize="0"/>

<ConstantForceField points="0-24" forces="0 0 11.1 0 0 0"/>
<ConstantForceField indices="0-24" forces="0 0 11.1 0 0 0"/>
<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1.092e6" poissonRatio="0.3" thickness="0.1" />

<Node name="SubTriangles">

<TriangleSetTopologyContainer name="subTrianglesTopo"/>
<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
<MechanicalObject name="subPoints" />
<BendingPlateMechanicalMapping />
<Triangle/>
<!-- <TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="2"/>
--> <MechanicalObject name="subPoints" topology="@subTrianglesTopo" />
<BendingPlateMechanicalMapping input="@../tri" output="@subPoints" />
<TriangleCollisionModel/>
</Node>

</Node>
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106 changes: 68 additions & 38 deletions examples/xml/testContacts.scn
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Original file line number Diff line number Diff line change
@@ -1,13 +1,45 @@
<Node name="root" dt="0.01" gravity="0 -10 0" showBehaviorModels="1" showCollisionModels="1">
<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 -10 0" >

<Node name="plugins">
<RequiredPlugin name="Shell"/>
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<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.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<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] -->
<RequiredPlugin name="Sofa.GUI.Component"/> <!-- Needed to use components [AttachBodyButtonSetting] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
<RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TriangleSetTopologyContainer] -->
<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 [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [Vertex2Frame] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField] -->
</Node>

<VisualStyle displayFlags="showBehaviorModels showCollisionModels"/>
<DefaultAnimationLoop/>
<!-- <MasterContactSolver name="MasterSolver" maxIt="5000" tolerance="0.00000001" displayTime="true" printLog="0" mu="0.1"/>-->
<CollisionPipeline verbose="0" />
<BruteForceDetection name="N2" />
<CollisionResponse />
<BruteForceBroadPhase name="N2"/>
<BVHNarrowPhase/>
<CollisionResponse name="response" response="PenaltyContactForceField" />
<MinProximityIntersection name="Proximity" alarmDistance="0.005" contactDistance="0.001"/>
<CollisionGroup />


<Node name="pointA">
<MechanicalObject template="Rigid" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
<MechanicalObject template="Rigid3" name="fixedPoint" position="-0.03 0 0 0 0 0 1"/>
</Node>


Expand All @@ -18,27 +50,24 @@
<MechanicalObject name="ArticulatedObject" template="Vec1d"/>
<Node name="6D_DOFs1">

<MechanicalObject name="6D_Dof" template="Rigid"/>
<UniformMass totalmass="1" showAxisSizeFactor="0.001"/>
<ArticulatedSystemMapping object1="ArticulatedObject" object2="6D_Dof"/>
<MechanicalObject name="6D_Dof" template="Rigid3"/>
<UniformMass totalMass="1" showAxisSizeFactor="0.001"/>
<ArticulatedSystemMapping input1="@../ArticulatedObject" output="@6D_Dof"/>
</Node>
<ArticulatedHierarchyContainer filename="BeamMotionInTube.bvh"/>
<ArticulatedHierarchyBVHController />
</Node>





<Node name="Beam">
<EulerImplicit rayleighStiffness="0" printLog="false" />
<EulerImplicitSolver rayleighStiffness="0" printLog="false" />
<!-- <BTDLinearSolver template="NewMatBand" bandWidth="11" printLog="false" verbose="false" />-->
<SparseLDLSolver name="SparseLDL Solver" printLog="false" />
<MechanicalObject template="Rigid" name="DOFs" position="-0.03 0 0 0 0 0 1 -0.02 0 0 0 0 0 1 -0.01 0 0 0 0 0 1 0 0 0 0 0 0 1 0.01 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.03 0 0 0 0 0 1 0.04 0 0 0 0 0 1" />
<Mesh name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />

<AttachConstraint name="Constraint" object2="DOFs" object1="pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />
<UniformMass mass="0.5 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.1 ]" totalMass="0.2" showAxisSizeFactor="0.01" printLog="false" />
<SparseLDLSolver name="SparseLDL Solver" printLog="false" template="CompressedRowSparseMatrixd"/>
<MechanicalObject template="Rigid3" name="DOFs" position="-0.03 0 0 0 0 0 1 -0.02 0 0 0 0 0 1 -0.01 0 0 0 0 0 1 0 0 0 0 0 0 1 0.01 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.03 0 0 0 0 0 1 0.04 0 0 0 0 0 1" />
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
<!--<AttachProjectiveConstraint name="Constraint" object2="@DOFs" object1="@/pointA/fixedPoint" indices1="0" indices2="0" freeRotations="false" />-->
<FixedProjectiveConstraint indices="0"/>
<UniformMass vertexMass="0.5 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.1 ]" showAxisSizeFactor="0.01" printLog="false" />
<BeamFEMForceField name="FEM" radius="0.01" youngModulus="1e6" />

<!-- <RestShapeSpringsForceField points="7" stiffness="1e6" angularStiffness="1e6" external_rest_shape="../Motion/6D_DOFs1/6D_Dof" external_points="1"/>-->
Expand All @@ -47,55 +76,56 @@
<!-- <CubeTopology nx="2" ny="15" nz="2" min="0.001 -0.03 -0.001" max="-0.001 0.04 0.001" />-->
<!-- <MechanicalObject />-->
<!-- <BeamLinearMapping isMechanical="true" localCoord="false"/>-->
<!-- <Triangle />-->
<!-- <TriangleCollisionModel />-->
<!-- </Node>-->
<Node name="Collision">
<CubeTopology nx="15" ny="2" nz="2" min="0 -0.1 -0.1" max="7 0.1 0.1" />
<MechanicalObject />
<BeamLinearMapping isMechanical="true" localCoord="true"/>
<Triangle contactStiffness="1e4" bothSide="1"/>
<Line contactStiffness="1e4" bothSide="1"/>
<Point contactStiffness="1e4" bothSide="1"/>
<TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
<LineCollisionModel contactStiffness="1e4" bothSide="1"/>
<PointCollisionModel contactStiffness="1e4" bothSide="1"/>
</Node>
</Node>




<Node name="Rest_colon">
<MeshLoader name="rest_shape" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
<Mesh/>
<Vertex2Frame name="RestVertex2Frame" template="Rigid" invertNormals="false" vertices="@rest_shape.vertices" normals="@rest_shape.normals" />
<MeshOBJLoader name="rest_shape" filename="../../../Shell/mesh/fake_colon.obj"/>
<MeshTopology/>
<Vertex2Frame name="RestVertex2Frame" template="Rigid3" invertNormals="false" position="@rest_shape.position" normals="@rest_shape.normals" />
</Node>


<Node name="Fake_colon" activated="true">
<EulerImplicitSolver/>
<CGLinearSolver iterations="100" tolerance="1e-15" threshold="1e-15"/>
<TriangleSetTopologyContainer name="trianglesTopo" filename="applications/plugins/shells/mesh/fake_colon.obj"/>
<MechanicalObject name="colon" template="Rigid" debugViewIndices="false" debugViewIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" />
<MeshOBJLoader name="loader" filename="../../../Shell/mesh/fake_colon.obj" />
<TriangleSetTopologyContainer name="trianglesTopo" src="@loader"/>
<MechanicalObject name="colon" template="Rigid3" showIndices="false" showIndicesScale="0.0003" position="@../Rest_colon/RestVertex2Frame.frames" topology="@trianglesTopo"/>

<UniformMass mass="0.1 0.1 [ 0.1 0 0 , 0 0.1 0 , 0 0 0.05 ]" showAxisSizeFactor="0.003" totalmass="3" />
<UniformMass showAxisSizeFactor="0.003" totalMass="3" />

<BoxROI name="box1" box="-0.065 -0.03 -0.03 -0.06 0.03 0.03" drawSize="0"/>
<FixedConstraint indices="@box1.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@box1.indices" drawSize="0"/>
<BoxROI name="box2" box="0.06 -0.03 -0.03 0.065 0.03 0.03" drawSize="0"/>
<FixedConstraint indices="@box2.indices" drawSize="0"/>
<FixedProjectiveConstraint indices="@box2.indices" drawSize="0"/>

<FixedRotationConstraint FixedZRotation="true"/>
<FixedRotationProjectiveConstraint FixedZRotation="true"/>
<TriangularBendingFEMForceField name="FEM" bending="true" youngModulus="1e5" poissonRatio="0.42" thickness="0.001" />

<Node name="SubTriangles">
<TriangleSetTopologyContainer name="subTrianglesTopo"/>
<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>
<MechanicalObject name="subPoints" />
<BendingPlateMechanicalMapping />
<Triangle contactStiffness="1e4" bothSide="1"/>
<Line contactStiffness="1e4" bothSide="1"/>
<Point contactStiffness="1e4" bothSide="1"/>
<!--<TriangleSubdivisionTopologicalMapping object1="trianglesTopo" object2="subTrianglesTopo" subdivisions="1"/>-->
<MechanicalObject name="subPoints" topology="@subTrianglesTopo"/>
<BendingPlateMechanicalMapping input="@../colon" output="@subPoints"/>
<TriangleCollisionModel contactStiffness="1e4" bothSide="1"/>
<LineCollisionModel contactStiffness="1e4" bothSide="1"/>
<PointCollisionModel contactStiffness="1e4" bothSide="1"/>
<Node name="visual">
<OglModel name="Visual" color="red"/>
<IdentityMapping object1="subPoints" object2="Visual"/>
<IdentityMapping input="@../subPoints" output="@Visual"/>
</Node>
</Node>

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