Add an example of a hexaBeam scene under the gravity force.

(cherry picked from commit 690c49743bf5a7aaa0bb9a66730415a159974dae)

examples/others/hexaBeam/hexaBeam_gravity.py

@@ -0,0 +1,61 @@
+# -*- coding: utf-8 -*-
+import os
+import Sofa
+
+plugins=["SofaPython3","SoftRobots","ModelOrderReduction","STLIB",
+
+         "Sofa.Component.Visual",
+         "Sofa.Component.AnimationLoop",
+         "Sofa.GL.Component.Rendering3D",
+         "Sofa.Component.Constraint.Lagrangian.Solver",
+         'Sofa.Component.IO.Mesh',
+         'Sofa.Component.Playback',
+         'Sofa.Component.Constraint.Lagrangian.Correction', # Needed to use components [GenericConstraintCorrection]
+         'Sofa.Component.Engine.Select', # Needed to use components [BoxROI]
+         'Sofa.Component.LinearSolver.Direct', # Needed to use components [SparseLDLSolver]
+         'Sofa.Component.Mapping.Linear', # Needed to use components [BarycentricMapping]
+         'Sofa.Component.Mass', # Needed to use components [UniformMass]
+         'Sofa.Component.ODESolver.Backward', # Needed to use components [EulerImplicitSolver]
+         'Sofa.Component.SolidMechanics.FEM.Elastic', # Needed to use components [TetrahedronFEMForceField]
+         'Sofa.Component.SolidMechanics.Spring', # Needed to use components [RestShapeSpringsForceField]
+         'Sofa.Component.StateContainer', # Needed to use components [MechanicalObject]
+         'Sofa.Component.Topology.Container.Dynamic', # Needed to use components [TetrahedronSetTopologyContainer]
+         'Sofa.Component.Constraint.Projective', # Needed to use components [FixedProjectiveConstraint]
+         'Sofa.Component.Topology.Container.Grid'] # Needed to use components [RegularGridTopology]
+
+
+
+def createScene(rootNode):
+
+    rootNode.findData('dt').value=0.02
+    rootNode.findData('gravity').value=[0, -9810, 0]
+    rootNode.addObject('VisualStyle', displayFlags='showBehaviorModels showForceFields')
+    rootNode.addObject('RequiredPlugin', pluginName=plugins, printLog=False)
+    rootNode.addObject('FreeMotionAnimationLoop')
+    rootNode.addObject('GenericConstraintSolver', tolerance="1e-12", maxIterations="10000")
+
+
+    M1 = rootNode.addChild("M1")
+    M1.addObject('EulerImplicitSolver',rayleighStiffness="0.1", rayleighMass="0.1")
+    M1.addObject('SparseLDLSolver',name='preconditioner')
+    M1.addObject('MechanicalObject', name='MO')
+    M1.addObject('UniformMass', totalMass="0.1")
+    M1.addObject('RegularGridTopology', nx="4", ny="4", nz="20", xmin="-9", xmax="-6", ymin="0", ymax="3", zmin="0", zmax="19")
+    M1.addObject('BoxROI', name='ROI1', box='-9 -2 -1 -3 4 5', drawBoxes='true')
+
+    M1.addObject('HexahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", method="large")
+    M1.addObject('RestShapeSpringsForceField', points='@ROI1.indices', stiffness = '1e8')
+    M1.addObject('GenericConstraintCorrection', linearSolver='@preconditioner')
+
+    # Add a visual model 
+    visualModel = M1.addChild('visualModel')
+    visualModel.addObject('OglModel', name="visu", color="green")
+    visualModel.addObject('IdentityMapping', input="@..", output="@visu")
+
+    actuator = rootNode.addChild('actuator')
+    actuator.addObject('MechanicalObject', name="actuatedState", template="Vec3d", position="@M1/MO.position")
+
+
+
+
+