Assistance Needed with Rigidifying a Hexahedral Mesh Region and Implementing Displacement Control in SOFA 19.06

[sodasoda520]

Dear SOFA Community,
I am currently working on a simulation project involving a membrane using SOFA version 19.06 (compiled version). I have successfully completed the initial stages of modeling and applied a fixed constraint to one end of the membrane. However, I am encountering challenges in the following areas and would greatly appreciate your guidance and any relevant tutorials or suggestions.

What I Need Help With:

I aim to achieve the following functionalities:

1.Rigidify the Other End (Right End):Assign rigid behavior to a specific 5 mm × 20 mm region at the right end of the membrane. Enable this rigid region to move as a whole, simulating an end-effector that can clamp objects.
2.Control Displacement: Implement a controller that can apply specified displacements to the rigidified region, allowing for dynamic interaction during the simulation.
3.Interactive Control via Mouse: Enable the use of the mouse to drag the entire rigidified region instead of just a single point. Ensure that the interaction affects the whole rigidified block rather than individual points.

Given that my mesh consists of hexahedral elements, how can I correctly apply Rigidify to a specific region to ensure it behaves as a rigid body?

How can I configure the simulation to allow mouse interactions (dragging) with the entire rigidified region instead of individual points?

Are there any example scripts or tutorials that demonstrate these functionality?

Given the challenges with SOFA 19.06, would upgrading to a newer version be beneficial for these functionalities?

As a newcomer to SOFA, I would greatly appreciate any advice, code snippets, or references to tutorials that can help me implement the above functionalities. If there are alternative approaches to achieve rigid behavior and interactive control within a hexahedral mesh, I am open to suggestions.

Thank you very much for your time and assistance!

Below is my current code :

###
 ###-*- coding: utf-8 -*-

from stlib.scene import Scene
from stlib.components import addOrientedBoxRoi  # Component for selecting and fixing membrane boundaries

def createScene(rootNode):
    # Define membrane dimensions
    Lx = 40.0   # Length in mm
    Ly = 20.0   # Width in mm
    Lz = 0.25   # Thickness in mm

    # Set gravity with acceleration 9810 mm/s^2 and load necessary plugins
    scene = Scene(rootNode, gravity=[0.0, 0.0, -9810], plugins=["SofaSparseSolver"])

    # Set time step
    rootNode.dt = 0.05

    # Import the computational mesh of the PI membrane
    membrane = rootNode.createChild('Membrane')
    membrane.createObject('MeshGmshLoader', name='meshLoader', filename=r"C:\Users\Administrator\Desktop\Gmsh\My Gmsh test\date\mesh\highmesh.msh")
    membrane.createObject('HexahedronSetTopologyContainer', src='@meshLoader', name='TopologyContainer')
    membrane.createObject('HexahedronSetTopologyModifier', name='TopologyModifier')

    # Define the mechanical model of the membrane
    membrane.createObject('MechanicalObject', name='dofs',
                          position='@meshLoader.position',
                          showObject=True, showObjectScale=1.0,
                          showColor=[1.0, 0.0, 1.0, 1.0])

    # Add mass and elastic force field
    membrane.createObject('UniformMass', totalMass=0.000284)
    membrane.createObject('HexahedronFEMForceField', template='Vec3d', name='FEM',
                          youngModulus=2500, poissonRatio=0.34, method='large')

    # Add solvers
    membrane.createObject('EulerImplicitSolver', name='TimeIntegration')
    membrane.createObject('SparseLDLSolver', name='DirectSolver')

    # Add visualization model of the membrane
    visual = membrane.createChild('Visual')
    visual.createObject('MeshSTLLoader', name='loader', filename=r"C:\Users\Administrator\Desktop\Gmsh\My Gmsh test\date\mesh\lowmesh.stl")
    visual.createObject('OglModel', name='renderer', src='@loader', color=[1, 1.0, 1, 0.5])

    # Map the deformation of the mechanical model to the visualization model
    membrane.createObject('BarycentricMapping', input=membrane.dofs.getLinkPath(), output=visual.renderer.getLinkPath())

    # Fixed constraint: Fix a 5 mm × 20 mm region at one end along the length
    fixed_region = addOrientedBoxRoi(membrane, position='@dofs.rest_position',
                                     translation=[2.5, Ly / 2, -Lz / 2],  # Center at x=2.5 mm
                                     eulerRotation=[0, 0, 0],
                                     scale=[5.0, Ly, Lz],
                                     name='FixedRegion')
    membrane.createObject('FixedConstraint', name='FixedConstraint', indices='@FixedRegion.indices')

    # Display the boundary box of the fixed region
    fixed_region.drawBoxes = True
    rootNode.VisualStyle.displayFlags = "showBehaviorModels showForceFields showVisual"

    return rootNode

[hugtalbot]

Hi @sodasoda520

Indeed the SOFA v19 is no longer maintained. It was 5 years ago. Maintaining so many SOFA versions would require a tremendous workload and associated costs. Sorry for this. Check our for "rigidification" topics on this forum other already asked how to do so.

Hope to see you at the SOFA Week 2024

[sodasoda520]

Thank you @hugtalbot
In fact, I'm trying to do my job with a newer version of SOFAv23.06, but I'm encountering some hard-to-fix problems with the installation (already used the methods mentioned in the forums but they didn't work), can I trouble you to take a look at this thread?
trouble
As for SOFA Week 2024, as much as I wanted to go, there were too many difficulties that prevented me from attending, unfortunately!

[hugtalbot]

Best @sodasoda520 would be to move to a really recent version of SOFA
v24.06 sounds reasonable since we will soon release the v24.12 next December