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complete cleaning in Component
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@hugtalbot
hugtalbot committed Dec 29, 2024
1 parent aca70f7 commit fc3b7d3
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Showing 19 changed files with 79 additions and 45 deletions.
3 changes: 3 additions & 0 deletions examples/Component/Controller/MechanicalStateControllerTranslation.scn
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Expand Up @@ -14,6 +14,9 @@
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields showCollisionModels" />

<DefaultAnimationLoop />

<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
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14 changes: 7 additions & 7 deletions examples/Component/Controller/test_sleep.scn
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Expand Up @@ -19,7 +19,7 @@
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="Sofa.GL.Component.Shader"/> <!-- Needed to use components [LightManager OglFloat3Variable OglShader SpotLight] -->
<RequiredPlugin name="SofaUserInteraction"/> <!-- Needed to use components [SleepController] -->

<VisualStyle displayFlags="" /> <!-- showInteractionForceFields -->
<FreeMotionAnimationLoop />
<GenericConstraintSolver maxIterations="1000" tolerance="0.001"/>
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<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel contactStiffness="10.0" />
<LineCollisionModel contactStiffness="10.0" />
<PointCollisionModel contactStiffness="10.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
Expand All @@ -89,9 +89,9 @@
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel contactStiffness="10.0" />
<LineCollisionModel contactStiffness="10.0" />
<PointCollisionModel contactStiffness="10.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
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2 changes: 1 addition & 1 deletion examples/Component/Controller/test_sleep3.scn
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Expand Up @@ -101,7 +101,7 @@
<TriangleCollisionModel name="FloorTriangle" simulated="0" moving="0" />
<LineCollisionModel name="FloorLine_line" simulated="0" moving="0" />
<PointCollisionModel name="FloorLine_point" simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_3" filename="mesh/floor3.obj" scaleTex="0.2 0.2" scale="1.75" handleSeams="1" />
<MeshOBJLoader name="meshLoader_3" filename="mesh/floor3.obj" scale="1.75" handleSeams="1" />
<OglModel name="FloorV" src="@meshLoader_3" texturename="textures/brushed_metal.bmp" dy="-10" />
</Node>
</Node>
2 changes: 1 addition & 1 deletion examples/Component/Engine/Generate/MergePoints.scn
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Expand Up @@ -45,7 +45,7 @@
<UniformMass totalMass="50.0" />
<HexahedronFEMForceField name="FEM" youngModulus="4000.0" poissonRatio="0.30" method="large" updateStiffnessMatrix="false" printLog="0"
drawing="1"/>
<UncoupledConstraintCorrection />
<UncoupledConstraintCorrection defaultCompliance="0.05"/>

<Node name="Visu">
<QuadSetTopologyContainer name="Container"
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2 changes: 1 addition & 1 deletion examples/Component/Engine/Select/MeshROI.scn
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Expand Up @@ -38,7 +38,7 @@
<Node name="MeshROI" >
<MeshOBJLoader name="ROIloader" filename="mesh/malleus.obj" scale3d="1 1 1" translation="0 0 0" rotation="0 0 0"/>
<OglModel />
<MeshROI name="ROIm" drawMesh="0" drawBox="0" drawEdges="0" drawTriangles="1" drawTetrahedra="1" drawOut="0" computeMeshROI="1" doUpdate="0"
<MeshROI name="ROIm" drawBox="0" drawEdges="0" drawTriangles="1" drawTetrahedra="1" drawOut="0" computeMeshROI="1" doUpdate="0"
position="@../mecaObj.position" tetrahedra="@../loader.tetrahedra" ROIposition="@ROIloader.position" ROItriangles="@ROIloader.triangles" />
</Node>
</Node>
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12 changes: 6 additions & 6 deletions examples/Component/Engine/Select/NearestPointROI.scn
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Expand Up @@ -36,14 +36,14 @@
<BoxROI box="-0.1 -0.1 -0.1 3.1 3.1 0.1" name="box"/>
<FixedProjectiveConstraint indices="@box.indices"/>
<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>
<Node name="M2">
<MechanicalObject name="mo"/>
<UniformMass totalMass="160" />
<RegularGridTopology nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="9" zmax="18" />
<TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>
<Node name="M3">
<MechanicalObject name="mo"/>
Expand All @@ -52,7 +52,7 @@
<BoxROI box="-0.1 -0.1 26.99 3.1 3.1 27.1" name="box"/>
<FixedProjectiveConstraint indices="@box.indices"/>
<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>

<NearestPointROI template="Vec3" name="np1" object1="@./M1/mo" object2="@./M2/mo" radius="0.1"/>
Expand All @@ -75,14 +75,14 @@
<BoxROI box="3.9 -0.1 -0.1 7.1 3.1 0.1" name="box"/>
<FixedProjectiveConstraint indices="@box.indices"/>
<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>
<Node name="M2"> <!-- This object has a higher resolution than the others -->
<MechanicalObject name="mo"/>
<UniformMass totalMass="160" />
<RegularGridTopology nx="8" ny="8" nz="20" xmin="4" xmax="7" ymin="0" ymax="3" zmin="9" zmax="18" />
<TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>
<Node name="M3">
<MechanicalObject name="mo"/>
Expand All @@ -91,7 +91,7 @@
<BoxROI box="3.9 -0.1 26.99 7.1 3.1 27.1" name="box"/>
<FixedProjectiveConstraint indices="@box.indices"/>
<TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<UncoupledConstraintCorrection defaultCompliance="1" useOdeSolverIntegrationFactors="0"/>
</Node>

<!--
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11 changes: 8 additions & 3 deletions examples/Component/IO/Mesh/MeshExporter.scn
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@@ -1,7 +1,12 @@
<?xml version='1.0'?>
<Node name='Root' gravity='0 0 0' time='0' animate='0' >
<?xml version='1.0'?>

<Node name='Root' gravity='0 0 0' time='0' animate='0' bbox="0 0 0 1 1 1" >
<RequiredPlugin name="Sofa.Component.IO.Mesh"/>
<RequiredPlugin name="Sofa.Component.StateContainer"/>
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/>

<DefaultAnimationLoop/>
<RegularGridTopology name='grid' n='6 6 6' min='-10 -10 -10' max='10 10 10' p0='-30 -10 -10' computeHexaList='0'/>
<MechanicalObject name="MechaObj"/>
<MeshExporter name='exporterA' format='vtk' printLog='true' filename='outFile' exportEveryNumberOfSteps='5' position="@MechaObj.position" hexas="@grid.computeHexaList" />
</Node>
</Node>
4 changes: 3 additions & 1 deletion examples/Component/IO/Mesh/OBJExporter.scn
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Expand Up @@ -11,10 +11,12 @@
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

<DefaultAnimationLoop />

<Node name="M1">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<SparseLDLSolver printLog="false"/>
<CGLinearSolver iterations="1000" threshold="1.0e-9" />
<CGLinearSolver tolerance="1e-5" iterations="1000" threshold="1.0e-9" />
<MechanicalObject template="Vec3d" />
<UniformMass totalMass="100" />
<RegularGridTopology nx="4" ny="4" nz="40" xmin="-9" xmax="-6" ymin="0" ymax="3" zmin="0" zmax="19" />
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8 changes: 5 additions & 3 deletions examples/Component/Mapping/Linear/BarycentricMappingTrussBeam.scn
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Expand Up @@ -42,7 +42,8 @@
<ConstantForceField forces="0 -0.1 0" />

<Node name="Triangle">
<include href="Objects/TriangleSetTopology.xml" />
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier />
<Tetra2TriangleTopologicalMapping input="@/Truss/Container" output="@Container" />
<TriangleCollisionModel />
<Node name="TriangleVisual">
Expand All @@ -59,9 +60,10 @@
<ConstantForceField indices="5" forces="0 0 0 -10 0 0" />
<BarycentricMapping isMechanical="true" input="@TrussMO" output="@BeamMO" />
<Node name="VisuThread">
<MechanicalObject name="Quads" />
<include href="Objects/QuadSetTopology.xml" />
<QuadSetTopologyContainer name="Container"/>
<QuadSetTopologyModifier />
<Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMesh" output="@Container" />
<MechanicalObject name="Quads" />
<TubularMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMO" output="@Quads" />
<Node name="VisuOgl">
<OglModel name="Visual" color="0.5 0.5 1.0" />
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4 changes: 2 additions & 2 deletions examples/Component/Mapping/Linear/DeformableOnRigidFrameMapping.scn
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Expand Up @@ -20,7 +20,7 @@
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showBehavior showVisual" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<CollisionPipeline depth="6" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
Expand All @@ -39,7 +39,7 @@
<!-- <Node name="TorusRigid"> -->
<Node name="Torus">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" verbose="0" />
<CGLinearSolver iterations="50" threshold="1e-15" tolerance="1e-15" />
<MechanicalObject name="rigidframe" template="Rigid3" position="1 2 0 0 0 0.7 0.7" />
<UniformMass filename="BehaviorModels/torus.rigid" />
<!--<FixedProjectiveConstraint /> -->
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1 change: 1 addition & 0 deletions examples/Component/Mapping/NonLinear/AreaMapping.scn
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Expand Up @@ -19,6 +19,7 @@
<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] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering2D"/> <!-- Needed to use components [OglColorMap] -->
</Node>

<FreeMotionAnimationLoop solveVelocityConstraintFirst="true" computeBoundingBox="false" parallelODESolving="true"/>
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2 changes: 1 addition & 1 deletion examples/Component/Mapping/NonLinear/DistanceFromTargetMapping.scn
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Expand Up @@ -15,7 +15,7 @@
<StringMeshCreator name="loader" resolution="20" scale3d="1 1 1" />

<EulerImplicitSolver />
<EigenSimplicialLLT />
<EigenSimplicialLLT template="CompressedRowSparseMatrixMat3x3d"/>

<EdgeSetTopologyContainer name="topology" position="@loader.position" edges="@loader.edges"/>
<MechanicalObject name="dofs" template="Vec3" />
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4 changes: 2 additions & 2 deletions examples/Component/Mapping/NonLinear/DistanceMultiMapping.scn
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Expand Up @@ -59,8 +59,8 @@

<Node name="connection">
<MechanicalObject template="Vec1" name="connectionDOF" />
<EdgeSetTopologyContainer edges="0 1"/>
<DistanceMultiMapping template="Vec3,Vec1" input="@../springs0 @../springs1" output="@connectionDOF" indexPairs="0 19 1 0" restLengths="1" geometricStiffness="0" applyRestPosition="true" computeDistance="true"/>
<EdgeSetTopologyContainer name="edgeTopo" edges="0 1"/>
<DistanceMultiMapping template="Vec3,Vec1" topology="@edgeTopo" input="@../springs0 @../springs1" output="@connectionDOF" indexPairs="0 19 1 0" restLengths="1" geometricStiffness="0" applyRestPosition="true" computeDistance="true"/>
<RestShapeSpringsForceField template="Vec1" stiffness="1"/>
</Node>

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8 changes: 5 additions & 3 deletions examples/Component/Mapping/NonLinear/RigidRigidMapping-basic.scn
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Expand Up @@ -9,10 +9,12 @@
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<VisualStyle displayFlags="showBehaviorModels showMapping" />
<Node name="parent node with independent DOFs">
<!-- <EulerImplicitSolver name="ODE solver" printLog="0" verbose="0" rayleighStiffness="0.0" rayleighMass="0"/> -->

<DefaultAnimationLoop />

<Node name="parent node with independent DOFs" bbox="-10 -10 -10 10 10 10">
<StaticSolver name="ODE solver" printLog="0" />
<CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" verbose="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
<CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject template="Rigid3" />
<PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
<UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
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19 changes: 18 additions & 1 deletion examples/Component/Mapping/NonLinear/VolumeMapping.scn
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@@ -1,7 +1,24 @@
<?xml version="1.0" ?>
<Node name="root" gravity="0 -9.81 0" dt="0.02">

<CollisionPipeline name="CollisionPipeline" verbose="0"/>
<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.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [VolumeMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
<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.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
<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.GL.Component.Rendering3D"/>

<CollisionPipeline name="CollisionPipeline" />
<DefaultAnimationLoop/>
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
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15 changes: 7 additions & 8 deletions examples/Component/Setting/ViewerSetting.scn
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Expand Up @@ -25,31 +25,30 @@
<ViewerSetting resolution="800 600"/>

<VisualStyle displayFlags="showVisual " /> <!--showBehaviorModels showCollisionModels-->
<LCPConstraintSolver tolerance="1e-3" maxIt="1000" initial_guess="false" build_lcp="false" printLog="0" mu="0.2"/>
<LCPConstraintSolver tolerance="1e-3" maxIt="1000" initial_guess="false" build_lcp="false" printLog="0" mu="0.2"/>
<FreeMotionAnimationLoop />
<CollisionPipeline depth="15" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="1.5" contactDistance="1" />
<MinProximityIntersection name="Proximity" alarmDistance="1.5" contactDistance="1" />

<LightManager />
<SpotLight name="light1" color="1 1 1" position="0 80 25" direction="0 -1 -0.8" cutoff="30" exponent="1" />
<SpotLight name="light2" color="1 1 1" position="0 40 100" direction="0 0 -1" cutoff="30" exponent="1" />
<SpotLight name="light2" color="1 1 1" position="0 40 100" direction="0 0 -1" cutoff="30" exponent="1" />

<CollisionResponse name="Response" response="FrictionContactConstraint" />
<Node name="Snake" >

<SparseGridRamificationTopology n="4 12 3" fileTopology="mesh/snake_body.obj" nbVirtualFinerLevels="3" finestConnectivity="0" />
<SparseGridRamificationTopology n="4 12 3" fileTopology="mesh/snake_body.obj" nbVirtualFinerLevels="3" finestConnectivity="0" />

<EulerImplicitSolver name="cg_odesolver" rayleighMass="1" rayleighStiffness="0.03" />
<CGLinearSolver name="linear solver" iterations="20" tolerance="1e-12" threshold="1e-18" />
<MechanicalObject name="dofs" scale="1" dy="2"/>
<MechanicalObject name="dofs" scale="1" dy="2"/>
<UniformMass totalMass="1.0" />
<HexahedronFEMForceField name="FEM" youngModulus="30000.0" poissonRatio="0.3" method="large" updateStiffnessMatrix="false" printLog="0" />

<UncoupledConstraintCorrection />
<UncoupledConstraintCorrection defaultCompliance="0.001"/>

<Node name="Collis">
<Node name="Collis">
<MeshOBJLoader name="loader" filename="mesh/meca_snake_900tri.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" name="CollisModel" />
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2 changes: 1 addition & 1 deletion examples/Component/SolidMechanics/FEM/TopoMap_cylinder3d.scn
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Expand Up @@ -42,7 +42,7 @@
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier />
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
<BoxROI name="boxSelection" box="0 0 0 1 1 1.1" drawTriangles="true" listening="true"/>
<BoxROI name="BoxROI" position="@../Volume.position" triangles="@Container.triangles" box="-0.5 -0.5 0.9 0.5 0.5 1.1" drawTriangles="true"/>
<TriangularFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />
<TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
<TrianglePressureForceField triangleList="@boxSelection.triangleIndices" pressure="0.4 0 0" />
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