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CompositeLinearSystem.scn
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CompositeLinearSystem.scn
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<Node name="root" dt="0.02" gravity="0 -10 0">
<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.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [CompositeLinearSystem MatrixLinearSystem] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
<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.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [HexahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetGeometryAlgorithms] -->
<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="SofaMatrix"/> <!-- Needed to use components [GlobalSystemMatrixImage] -->
<VisualStyle displayFlags="showBehaviorModels showWireframe" />
<DefaultAnimationLoop/>
<DefaultVisualManagerLoop/>
<DefaultVisualManagerLoop/>
<Node name="node">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.1" rayleighMass="0.1" />
<Node name="matrices">
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="system"/>
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="K" assembleMass="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
<MatrixLinearSystem template="CompressedRowSparseMatrixd" name="M" assembleStiffness="false" assembleDamping="false" assembleGeometricStiffness="false" applyProjectiveConstraints="false"/>
<GlobalSystemMatrixImage name="imageA" linearSystem="@system"/>
<GlobalSystemMatrixImage name="imageK" linearSystem="@K"/>
<GlobalSystemMatrixImage name="imageM" linearSystem="@M"/>
</Node>
<CompositeLinearSystem template="CompressedRowSparseMatrixd" name="solverSystem" linearSystems="@matrices/system @matrices/K @matrices/M" solverLinearSystem="@matrices/system"/>
<SparseLDLSolver template="CompressedRowSparseMatrixd" linearSystem="@solverSystem"/>
<Node name="object_a">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="0" xmax="0" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="FEM_DOFs_a" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<UniformMass vertexMass="1"/>
<HexahedronFEMForceField name="FEM_a" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="-1.5" xmax="1.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 1 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_a" output="@visu"/>
</Node>
</Node>
</Node>
<Node name="object_b">
<MechanicalObject template="Vec3d" name="FEM_DOFs_b" printLog="false"/>
<RegularGridTopology name="grid" nx="4" ny="4" nz="20" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" />
<HexahedronSetGeometryAlgorithms/>
<UniformMass totalMass="320"/>
<BoxROI template="Vec3d" name="box" box="-1.6 -9.1 -0.1 1.6 -5.1 0.0001"/>
<FixedProjectiveConstraint indices="@box.indices" />
<HexahedronFEMForceField name="FEM_b" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<Node name="Visual">
<RegularGridTopology name="grid" n="@../grid.n" xmin="-1.5" xmax="1.5" ymin="-9" ymax="-6" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="2" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 1 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_b" output="@visu"/>
</Node>
</Node>
<Node name="object_c">
<RegularGridTopology name="grid" nx="1" ny="1" nz="20" xmin="5" xmax="5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Rigid3d" name="DOFs" showObject="true" showObjectScale="1" position="@grid.position"/>
<FixedProjectiveConstraint indices="0" />
<Node name="FEM">
<RegularGridTopology name="FEM_grid" nx="4" ny="4" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" />
<MechanicalObject template="Vec3d" name="FEM_DOFs_c" position="@FEM_grid.position" printLog="false"/>
<HexahedronSetGeometryAlgorithms/>
<UniformMass vertexMass="1"/>
<HexahedronFEMForceField name="FEM_c" youngModulus="10000" poissonRatio="0.45" method="large" printLog="false"/>
<RigidMapping globalToLocalCoords="true" rigidIndexPerPoint="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 5 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 7 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 8 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 9 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 11 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 12 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 13 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 17 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 18 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19 19"/>
<Node name="Visual">
<RegularGridTopology name="grid" nx="2" ny="2" nz="20" xmin="3.5" xmax="6.5" ymin="-1.5" ymax="1.5" zmin="0" zmax="19" computeTriangleList="false" />
<OglModel name="visu" lineWidth="5" material="Default Diffuse 0 1 1 1 1 Ambient 1 0 0 1 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45"/>
<BarycentricMapping input="@../FEM_DOFs_c" output="@visu"/>
</Node>
</Node>
</Node>
</Node>
</Node>