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HyperMorph Introduction Methods for Morphing Finite Element Models

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I HyperWorks 9.0

Table of Contents

HyperMorph Training

Section 1: Morphing Methods................................................ 1

Chapter 1: Introduction to Morphing Methods...................................................... 3

Accessing HyperMorph ...................................................................................................4

HyperMorph Online Help .................................................................................................4

Chapter 2: Freehand Morphing.............................................................................. 5

Exercise 2.1: Translating Nodes to Increase the Length of a Propeller Blade..................6

Exercise 2.2: Confirming a seat to a dummy profile .........................................................8

Chapter 3: Map to Geometry................................................................................. 11

Exercise 3.1: Change the Curvature of a Bumper to a Curved Line...............................12

Exercise 3.2: Change the Profile of the Roof of a Car....................................................14

Chapter 4: Morph Volumes ................................................................................... 17 Exercise 4.1: Change the Shape of the B-pillar with the Help of Morph Volume ............18

Chapter 5: Domains and Handles......................................................................... 21

Exercise 5.1: Using Domains and Handles....................................................................24

Exercise 5.2: Increasing the gauge thickness of the Spring Wire...................................30

Exercise 5.3: Changing the Radius of the Spring Coil....................................................33


HyperWorks 9.0 II

Section 2: Morphing Controls.............................................. 37

Chapter 1: Introduction to Morphing Controls ...................................................39

Chapter 2: Symmetries ..........................................................................................41

Exercise 2.1: Using cyclical symmetry to assist in the morphing of a bottle ...................42

Exercise 2.2: Creation of a circular bead on the bottle..................................................47

Chapter 3: Shapes..................................................................................................53

Exercise 3.1: Morphing of a yoke via morph volumes and shapes.................................54

Exercise 3.2: Using Shapes to interpolate loads............................................................60

Exercise 3.3: Record Shapes ........................................................................................64

Chapter 4: Morph Constraints...............................................................................69 Exercise 4.1: Using morph constraints to keep the area of a windshield constant while changing its shape. .......................................................................................................70

Exercise 4.2: Using limiting constraints and freehand morphing to position a dummy and morph the seat. ......................................................................................................75

Exercise 4.3: Using cluster constraints to preserve the wheel shape while lengthening the body of a truck.........................................................................................................77

Chapter 5: Miscellaneous Topics..........................................................................83 Exercise 5.1: Remeshing domains after morphing ........................................................83


III HyperWorks 9.0

Section 1: Morphing Methods


HyperWorks 9.0 HyperMorph Introduction 1


2 HyperMorph Introduction HyperWorks 9.0

Chapter 1

Introduction to Morphing Methods

HyperMorph is a mesh morphing tool that allows you to alter finite element models while keeping mesh distortions to a minimum.

HyperMorph can be used to: • Change the profile and the dimensions of your mesh • Map an existing mesh onto a new geometry, and • Create shape variables that can be used for optimization

The methods available to carry out morphing are available under: • Freehand Morphing • Map to Geometry • Morph Volumes, and, • Domains and Handles

To provide greater control as well as an efficient morphing, you can use: • Morphing constraints, • Symmetries, and, • Biasing factors.

Morphs can be saved as Shapes. Shapes can then be: • Positioned to other parts of the model. • Animated, to review the morphing. • And also be used to transfer loads from one model to another.

After morphing has been performed, you can visualize the quality of the mesh, and can automatically smooth it if need be. A re-mesh can also be performed, keeping the morphing entities like handles, domains and shapes intact.


Chapter 1: Introduction to Morphing Methods


Accessing HyperMorph HyperMorph can be accessed in one of the following ways:

• On the Main menu point to Morphing, and select the appropriate function

Figure 1: HyperMorph on the Main menu

• On the Tool page click on HyperMorph, and click on the appropriate panel

Figure 2: HyperMorph on the Tool page

HyperMorph Online Help The on-line help for HyperMorph can be accessed as follows:

1. On the Help menu, click HyperMesh, OptiStruct, and Batch Mesher.

2. All files referenced in the HyperMorph tutorials are located in the HyperWorks installation directory under

<install_directory>/tutorials/hm/hypermorph.>


Chapter 1: Introduction to Morphing Methods


Chapter 2

Freehand Morphing Freehand morphing provides quick ways of morphing a finite element mesh. Freehand morphing can be performed in three ways:

Move nodes Lets you morph elements by selecting fixed nodes, moving nodes, affected elements and a moving direction.

The affected elements that are located between the moving and the fixed nodes will be stretched uniformly.

The stretching of the elements can be biased towards either the fixed or the moving nodes, providing a great degree of control on the resulting mesh profile.

Record Lets you record nodal movements from panels outside HyperMorph, like translate, rotate, quality index etc.

Sculpting Lets you enforce a selected shape onto your mesh.


Chapter 2: Freehand Morphing


Exercise 2.1: Translating Nodes to Increase the Length of a Propeller Blade In this exercise, you will increase the length of a propeller blade by 100 units, using freehand morphing.

Figure 1: Original Blade

Figure 2: Blade after morphing

Tools:

The move nodes panel can be accessed in one of the following ways:

• On the Morphing menu, select Free Hand. Go to the move nodes subpanel

• On the Tool page, click on HyperMorph � freehand � move nodes

Figure 3: Move nodes subpanel




Step 1: Load the model

1. Open the HyperMesh file, propeller.hm.

Step 2: Morph the blade

1. Go to the move nodes subpanel.

2. Make sure that the morphing method is set to translate.

3. For the translate value, key in z= -100

4. On the toolbar, left click on the User Views icon .

5. Click restore1.

6. For moving nodes and fixed nodes select the nodes as displayed in Figure 4.

Figure 4: Node and Element selections.

7. For affected elements select the elements which lie between fixed nodes and moving nodes.

8. For mv bias and fx bias keep the default value (1.00).

9. Morph the blade of the propeller.

Conclusion:

The length of the propeller blade has increased by 100. The fixed nodes do not move. The affected elements were stretched evenly to maintain element quality. The stretching of the elements takes place between the moving nodes and the fixed nodes.

Moving nodes Fixed nodes

Affected elements




Exercise 2.2: Confirming a seat to a dummy profile The objective of this exercise is to take a dummy butt profile and imprint it onto a seat.

Figure 1: Seat before and after sculpting

Tools:

The sculpting tool can be accessed in one of the following ways:

• On the Morphing menu select Free Hand. Go to the sculpting subpanel.

• On the tool page, go to HyperMorph �� freehand �� sculpting

Figure 2: Sculpting panel

Step 1: Load and review the model

1. Open the HyperMesh file, dummy_position_solid.hm

Step 2: Morph the seat

1. Go to the sculpting subpanel

2. Change the sculpting tool to mesh

3. For the sculpting tool:, chose the elements in the collector Dummy (Figure 3)

4. For affected elements: chose the elements in the collector Seat (Figure 3)

5. For the base point as well as the node list, chose a node on the Dummy (Figure 3)

6. Define a sculpt direction for your seat using N1 N2 (Figure 3)

7. Set your taper angle to 85 (degrees)

8. Ensure mesh compression is set to compress by factor




9. Set mesh compression (factor) to 0.5

Figure 3: Setting up the model for morphing

10. Click push, to complete the morphing operation




Figure 4: Seat after Sculpting

11. Review the obtained mesh quality.

Conclusions:

Using just a few steps we have been able to take a fairly complicated profile and impose it on to another mesh.




Chapter 3

Map to Geometry Map to Geometry provides quick ways of taking an existing mesh and conform it to a new geometry. Domains and handles can be used to provide better control on the morphing process. The geometry can be a line, node list, plane, surfaces, or elements using edge domains and handles to guide the process. Geometry can also be provided in the form of section lines, or surfaces.

Some of the types of geometry that can be mapped are shown in figure 1.

Figure 1: Types of geometry that can be mapped


Chapter 3: Map to Geometry


Exercise 3.1: Change the Curvature of a Bumper to a Curved Line In this exercise, you will use the line difference approach to morph a bumper to conform to a new section line.

Figure 1: Bumper before and after morphing

Tools The map to geom panel can be accessed in one of the following ways:

• On the Tools Morphing menu select Map to Geometry

• On the tool page, go to HyperMorph � map to geom

Figure 2: Map to Geometry panel


1. Open the HyperMesh file, bumper.hm.

Step 2: Morph the bumper.

1. Go to the map to geom panel.

2. Change the geometry selector to line difference.

3. Select the from line and the to line as shown in figure 3

4. Toggle the morphing entity (2nd column) from map domains to map nodes.

5. Select the nodes >> displayed.




6. Use no fixed nodes (2nd column, 2nd row).

7. Use linear morphing with a 1.0 biasing (column 3).

Figure 3: The from line and the to line

8. Click map.

Conclusions:

The profile of the bumper is changed to follow the new section line.




Exercise 3.2: Change the Profile of the Roof of a Car In this exercise, you will use map to sections to change the profile of the car roof.

Figure 1: Car model.

Tools The map to geom panel can be accessed in one of the following ways:

• On the Morphing menu select Map to Geometry

• On the tool page, go to HyperMorph � map to geom

Figure 2: Map to Geometry panel


1. Open the HyperMesh file, car_section.hm.

Step 2: Morph the roof

1. Go to the map to geom panel.

2. Change the mapping section type to map to sections.

3. Under map to sections, toggle lines to line list.

4. Switch map domains to map elements (2nd column).




5. Toggle no fixed nodes to fixed nodes (2nd column).

6. Keep blend checked.

7. Keep rotate nodes checked.

8. For the 3rd column keep it as linear.

9. Click first line list button and select Line A and Line B.

10. Under to click the second line list button and select Line A’ and Line B’.

Lines should be selected in the same order.

11. Under map to elements click the elems button and select elements by collector. Pick collector Roof (104) and click select.

12. From the toolbar click the User Views icon. A pop up window will appear. Select the right view

13. Under fixed nodes click nodes button and select all the nodes by window as shown in the figure 3.

14. Click map.

Figure 3: Selection for fixed nodes

Conclusions: The roof of the car has been morphed, while maintaining mesh quality.




Chapter 4

Morph Volumes A morph volume is a six-sided hexahedron whose shape can be manipulated to morph the mesh. The length and curvature of each edge of a morph volume can be modified independently. Adjacent morph volumes can be linked through tangency conditions. This allows you to update the characteristics of the morph volumes. Handles are placed at each of the vertices of the morph volumes. Morphing involves moving these handles.

Morph volumes thus present a very simple, powerful, and intuitive way to morph.

Morph volumes will only influence the nodes that are registered to it. You can either, register the nodes within a morph volume automatically when it is created, or you can select the nodes or nodes on selected elements to be registered. If the morph volumes do not appear to be morphing nodes inside them, you may need to register those nodes.

Figure 1: Morph Volumes


Chapter 4: Morph Volumes


Exercise 4.1: Change the Shape of the B-pillar with the Help of Morph Volume

This exercise shows how to smoothly change the shape of a B-pillar via morph volumes.

Figure 1: B-Pillar before and after morphing

Tools The morph volumes panel can be accessed by one of two methods:

• On the Morphing menu point to create and select Morph Volumes

• On the Tool page, go to HyperMorph � morph volumes

Figure 2: Create morph volumes


1. Open the HyperMesh file, body_side.hm.

Step 2: Create Morph Volumes.

1. Go to morph volumes �� create sub-panel.

2. Switch the creation method to pick on screen.

3. For handle placement, select corners only.

4. Keep the auto-tangent check box selected.

5. Draw a window by clicking at the four places shown in Figure 3.




Figure 3: points for creating the morph volume

Note: A morph volume is created, enclosing the area.

Step 3: Split the morph volumes

1. Go to the Morph volumes �� split/combine sub-panel.

2. Ensure the split toggle is set to split mvols : by edges

3. Select an edge of the morph volume close to location 1 (Figure 4).

Figure 4: Locations to split the morph volume

The green colored cross moves to the location of the black dot.

4. Click split.

The morph volume is split into two. Follow the same steps to create another split at location2.




Step 4: Changing the profile of the b-pillar

1. Go to the morph�� move handles sub-panel

2. Set the morphing method to translate.

3. For direction use along X, Y, Z.

4. Key in the following values:

X = 0

Y = 100.00

Z = 0

5. Select the eight handles by window as shown in Figure 5.

Figure 5: Select handles for morphing

6. Click morph.

Rotate the model to observe that the b-pillar is morphed.

Conclusions:

The b-pillar is morphed in a smooth fashion with minimum distortion to the elements.




Chapter 5

Domains and Handles The domains and handles approach consists of dividing the mesh into regions called domains with associated handles.

What are domains and handles? Domains consist of selected nodes and elements.

Domains and handles are divided into two basic groups, global and local.

The global group consists of global domains, each of which is associated with a number of global handles. Global handles will only influence the nodes in the global domain to which they are associated. Global handles and domains are best for making large scale shape changes to the model.

The local group consists of five types of local domains: 1D domains, 2D domains, 3D domains, edge domains, and general domains. Local handles/edge domains can only influence nodes contained in the domains they are associated with. Local handles/edge domains are intended to be used to make small scale, parametric changes to the model.

While a model can contain both global and local handles and domains, it is not necessary to have both types of domains and handles in a model.

The following table describes the various domains and their symbols when they are created.


Chapter 5: Domains and Handles


Figure 1: Domains types and symbols

When global domain and handles are generated using autogenerate or created with the create handles option turned on, HyperMorph generates eight global handles, one at each of the eight corners of a box laid out along the global axes surrounding the model. These global handles are named “corner” followed by a number from one to eight. HyperMorph will also place at least one global handle within the box in areas of the model’s peak nodal density. These handles are named “handle,” followed by a number.

The automatic global handle generation works particularly well for space-frame models such as full car models. However, for small models such as a control arm or bracket, the recommendation is for you to build your own local domains and handles since you are more likely interested in changing the local area rather than the entire model.

If the autogenerate process does not create handles in the positions where you want them to be, you can always delete them, reposition them, or create additional handles. Handles can be further classified as independent or dependent. An independent handle creates displacements to the model only when it is moved. A dependent handle creates displacements influenced from its own movements plus that of other handles it is linked to. A handle can be made dependent on one or more handles. This allows you to create as many layers of dependencies between your handles as you desire. For example, you can make all the handles at one cross section of a beam (modeling using 2D shell elements) dependent on a single handle allowing you to move an entire cross section while only having to select one independent handle.




What is a partition?

The most important factor in local morphing is partitioning. It is logically dividing a 2D domain into smaller 2D domains, such as where the angle between elements exceeds a certain value or where the domain changes from flat to curved, is called partitioning.

Proper partitioning makes morphing faster and easier. By activating partition domains user can invoke partitioning when auto-generating or when creating a domain. If the user is unsatisfied with the results of the partitioning he/she can change the partitioning parameters namely domains angle and curve tolerance.

Figure below shows an example of partitioning. For the model on the left, the 2D domain was created without partitioning. For the model on the right, partitioning was used. Note how the 2D domains divide along angle and curvature change boundaries.

Figure 2: Partitioning domains




Exercise 5.1: Using Domains and Handles In this exercise you will create domains and handles, and morph the model.

Tools:

The domains panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select domains

• On the Tool page, go to HyperMorph �� domains

Figure 1: Create domains sub-panel

The morph panel can be accessed in one of the following ways:

• On the Morphing menu, and click on Morph

• On the Tool page go to HyperMorph �� morph

Figure 2: Alter dimensions sub-panel


1. Open and review the HyperMesh model morphing_1.hm.

Step 2: Auto generate 2-D domains and handles.

1. Go to the domains �� create subpanel.

2. Change the create method to auto functions.

3. Click on generate.

Based on the model’s geometric features, all of the model’s elements are organized into various domains and local handles are created and associated with the domains.

Step 3: Move elements into a new 2-D domain.

1. Go to the domains �� create subpanel.




2. Switch the create type from auto functions to 2D domains.

3. Using elems >> by window, select the elements indicated in figure 3.

Figure 3: Elements to select to move into a new domain

4. Verify that partition 2D domains is active.

5. Create the domain.

Local handles are created for the new domain. You should now have two local domains. Elements can only belong to one domain at a time. Thus, the elements you selected were moved into the new domain. This functionality makes it very easy to group elements into different domains.

Step 4: Split the edge domain of the radius to have more control when morphing.

1. Go to the domains �� edit edges subpanel.

2. Verify that the split edge option is active.

3. With the split edge: domain selector active, select the edge domain of the part’s radius as indicated in the Figure 4.

The node selector automatically becomes active once the edge domain is selected. Click the domain selector to make it active and see that you selected the desired edge domain.




Figure 4: Edge domain to select

4. Click the node selector to make it active.

5. Select the node on the positive Y-axis end of the radius, as indicated in the image Figure 5.

Figure 5: Node selection to split the edge domain of the radius

6. Split the edge domain at the node.

7. Repeat the above process to further split the edge domain of the radius, this time at the node indicated in the Figure 6.




Figure 6: Node selection to further split the edge domain of the radius

Step 5: Add local handles to the 2-D domain on the part’s left side.

1. Go to the handles �� create subpanel.

2. Set name= local.

3. Click the attached to: domain selector to make it active.

4. Select the 2-D domain on the part’s left side by selecting its red icon, as indicated in the image below.

Figure 7: Adding handles to a 2-D domain

5. Click the by nodes: nodes selector to make it active.

6. Select the two nodes as indicated in the above image.

7. Create the handles to add them to the 2-D domain.




Step 5: Perform basic morphing to understand how domains and handles interact with each other and the mesh.

1. Go to morph � move handles subpanel.

2. (Optional) With the handles selector active, select the two handles that are on the most positive X-axis end of the part, as indicated in the figure 8.

If you select one or more handle, those handles follow the handle you drag (in step #8 below).

3. Switch on domains to on plane.

4. Click the N1 selector to make it active.

5. For N1, N2, and N3, select any three nodes on the model to define a plane.

6. Click morph.

“pick handles and move to new location” appears in the message bar.

7. Click on and drag one of the selected handles to morph the part.

As you drag the handle, the mesh’s size and shape is adjusted.

8. Notice that the following occurs as the selected local handle is moved:

9. The handles selected in step #3 above follow the handle you are dragging.

10. All of the elements belonging to the selected local handle’s 2-D domain are affected by moving that local handle.

11. The 2-D domain’s non-selected local handles act like anchors (they do not move).

12. The nodes on the edge domains and between any two non-selected local domains do not move.

13. None of the elements in the other 2-D domain are affected.

14. Once you release the mouse button, the morphing operation is complete.

Figure 8: Example result of morphing the model

15. Click undo.




16. The HyperMorph module allows for multiple levels of undo and redo for all morphing operations. This functionality is available for any particular HyperMesh session and its current model as long as the session and its model remain open.

17. Click reset under the handles selector.

18. (Optional) With the handles selector active, select one or more global handles.

19. Click morph.

20. Click on and drag any global handle to morph the part.

Conclusions:

The following occurs as the selected global handle is moved:

• The handles selected in step #11 above follow the handle you are dragging.

• The non-selected global handles act like anchors (they do not move).

• All of the elements, local handles and edge domains are affected.




Exercise 5.2: Increasing the gauge thickness of the Spring Wire In this exercise, you will use domains and handles to increase the gauge thickness.

Figure 1: Before and after morphing

Tools The domains panel can be accessed in one of the following ways:





• On the Morphing menu, click on morph







1. Open the HyperMesh file, spring.hm.

Step 2: Changing the gauge thickness

1. Go to the domains �create sub-panel.

2. Keeping the settings as shown in Figure 2 click on create.

3. Go to the morph � alter dimensions sub-panel.

4. Change the morphing method to radius (Figure 3)

5. Change the center calculation to by normals.

6. Keep the other settings as shown in Figure 3

7. For domains (under edge and 2D) select the 2D domain and the two edge domains as shown in Figure 4.

Figure 4: Domains to select for altering the gauge radius




When the circular edge domain is selected, the radius box populates with the current radius value.

8. In the radius field, type 12.

9. Click morph.

Conclusions:

The gauge thickness of the spring wire is changed from 7.5 to 12.0.




Exercise 5.3: Changing the Radius of the Spring Coil. In this exercise, you will increase the radius of the spring coil.


Tools The domains panel can be accessed in one of the following ways:





• On the Tools menu point to HyperMorph, and click on morph







1. Open the HyperMesh file, spring.hm.

Step 2: Changing the coil thickness

1. Go to the domains �create sub-panel.

2. Keeping the settings as shown in Figure 2 click on create.

3. Go to the morph � alter dimensions sub-panel.

4. Change the morphing method to radius (Figure 3)

5. Change the center calculation to by axis.

6. Change the axis to the z-axis.

Figure 3: Domains and base node to select for altering the coil radius




7. For domains (under edge and 2D) select the 2D domain and the two edge domains as shown in Figure 4.

8. For the base node for the z-axis select the node as shown in Figure 4.

9. Keep the default settings for the remaining options (Figure 3).

10. Check add to current.

11. In the radius field, type 20.

12. Click morph.

Conclusions:

20 units are added to the coil diameter.




Section 2: Morphing Controls



Chapter 1

Introduction to Morphing Controls

Symmetries, shapes, and morphing constraints are some of the useful tools that you can use to enhance and optimize the time spent on morphing your mesh.

Symmetries allow you to influence handles, nodes, morph volumes, and domains.

Shapes lets you create, save, animate, and apply morphing shapes as nodal or handle perturbations.

Morph constraints allow you to create constraints that restrict the movements of nodes or force compliance with dimensional requirements during morphing.


Chapter 1: Introduction to Morphing Controls



Chapter 1: Introduction to Morphing Controls


Chapter 2

Symmetries There are two types of symmetries, reflective and non-reflective.

• Reflective symmetries are 1-plane, 2-plane, 3-plane, and cyclical. They allow you to link handles so that the movements of one handle will be symmetrically applied to the linked handles.

• Non-reflective symmetries are linear, circular, planar, radial 2D, cylindrical, radial + linear, radial 3D, and spherical. These change the way that handles influence nodes as well as link the symmetric handles.

Reflective symmetries can be turned off by either checking/un-checking symlinks, or by making the symmetries active/inactive in the morph options panel. Non-reflective symmetries can only be turned off by making the symmetry inactive (morph options).

Symmetries can be combined, but you must be careful not to create confusing symmetrical arrangements. Symmetries can also be applied to unconnected domains. However, the influences between handles and nodes for non-reflective symmetries do not extend across all domains.

Reflective symmetries can be defined as either unilateral or multilateral. • Unilateral symmetries have only one side that governs the others, but not vice versa.

For example, handles created and morphs applied to handles on the positive side of the symmetry are reflected onto the other side or sides of the symmetry, but handles created or morphs applied to handles on the other side or sides of the symmetry are not reflected.

• For multilateral symmetries, all sides govern all other sides. For example, a handle created or a morph applied to any handle on any side is reflected to all the other sides.

Reflective symmetries can also be defined as and either approximate or enforced. • Approximate symmetries may contain handles that are not symmetric to other

handles. • Enforced symmetries cannot contain handles that are not symmetric on all other

sides. When a reflective symmetry is created with the enforced option, additional handles may also be created to meet the enforcement requirements. Note that handles created due to the enforced option may not be located on any mesh; however, they will always be assigned to the nearest domain and will affect nodes in that domain.


Chapter 2: Symmetries


Exercise 2.1: Using cyclical symmetry to assist in the morphing of a bottle In this exercise we will create a dome shape at the bottom of the bottle using morph volumes.


Tools The Morph Volumes panel can be accessed in one of the following ways:


• On the Tool page, go to HyperMorph �� morph volumes



• On the Tools menu point to HyperMorph, and click on morph






The symmetry panel can be accessed in one of the following ways:

• On Morphing menu point to create and click on Symmetry

• On the Tool page, go to HyperMorph �� symmetry

Figure 4: Symmetry panel


1. Open the HyperMesh file bottle.hm

Step 2: Create MorphVolumes

1. Go to morph volumes � create sub-panel.

2. Switch create morphvol to create matrix.

3. Set:

X density = 3

Y density = 8

Z density = 5

Buffer % = 5

4. Toggle global system to syst.

5. Select elems >> displayed.

6. For syst and select the system located at the top of the bottle.

7. Use the default values for the remaining settings (Figure 2)

8. Create the morph volumes

Note that morph volumes are created, encompassing the bottle, with red colored handles created at the corners of each morph volume.




Step 3: Create Symmetry

1. Go to the symmetry �� create sub-panel.

2. Under domain, check the box for morph volumes.

Symmetries can either be linked to domains or to morph volumes. Here we are associating the symmetries to the morph volumes.

3. Change 1 plane to cyclical.

4. Change 180 degrees to set freq.

5. Set # of cycles, to 8.

6. For syst select the cylindrical coordinate system located at the top of the bottle.

7. Click create.

Note that a cyclical symmetry is created.

Step 4: Create the dome

1. Go to morph volumes �� update edges.

2. Toggle update nodes to update ends.

3. Rotate the bottle such that you are looking at its bottom.

4. Update the tangencies on the inner ring of the bottom from continuous to free (Figure 5).

Figure 5: Updating tangencies

5. Go to the morph �� move handles sub-panel.

6. Select the handles at the bottom of the bottle, as shown in Figure 6.




Figure 6: Handles to translate

7. Switch the morphing method to translate.

8. Switch to along xyz

9. Set z val = 10

10. Click morph.

Since we have symmetries defined, translating a single handle on the inner ring at the bottom, ensures that a similar behavior is imparted on all the handles symmetrically associated to it.

11. On the toolbar click on the visualization icon ( ).

12. Click on the Morphing tab.

13. Hide all morphing entities.

14. View the change in shape of the bottle.

Conclusions:

Using morph volumes with appropriate tangencies, and by creating symmetries we are able to create a dome shaped feature at the bottom of the bottle.

Remarks: There are four different methods to define the continuity between the morph volumes.

• Free makes morph volume edges independent of other edges.

• Fixed connectivity allows you to prescribe the angle at the end of an edge.




• Master-slave maintains tangency between two morph volume edges while keeping the master edge independent of the slave edge. (when the master edge moves, the slave edge follows, but when the slave edge moves, the master edge does not have to follow.)

• Continuous maintains tangency between two morph volume edges while allowing both edges to affect each other.

The default setting in morph volume is always set to tangent which is continuous edge connectivity. This definition can always be changed in the update edges sub panel, based upon the morphing needs.




Exercise 2.2: Creation of a circular bead on the bottle.

Figure 1: Adding beads to the bottle

In this exercise we will first create a bead using the default continuous edge connectivity. We will then update the edges to free and see how it affects the bead creation.

Tools The Morph Volumes can be accessed in one of the following ways:


• On the Tool page, go to HyperMorph � morph volumes

Figure 2: update edges subpanel

Step 1: Split the Morph Volumes

1. On the toolbar click on the visualization icon ( ).

2. Click on the Morphing tab.




3. Show all morphing entities.

4. On the tool bar, click the view icon and click left.

5. Go to the morph volumes � split/combine sub-panel.

6. Set the toggles to split mvols � by edges

7. Set single split, to 0.8

8. Select an edge of Morph Volume 1 (Figure 3)

9. Click split.

10. Set single split to 0.2

11. Select an edge of Morph Volume 2 (Figure 3).

12. Click split.

Figure 3: Splitting morph volumes

Step 2: Morph the part

1. Go to the morph � move handles sub panel.


3. Switch the translate option to along xyz.

4. Set x-val = -5.0

5. Select cylindrical coordinate system located at the top of the bottle.




6. Select a handle as shown in figure 4.

7. Click morph.

Figure 4: Selecting a handle for morphing

As the bead is created, the upper and lower portions of the bottle deform too (figure 5). This is not the intension, as we want to create a bead, without affecting the other parts of the bottle.

Figure 5: Morphing using continuous morph volumes




8. Undo the morphing operation

Step 3: Updating the Morph Volume edges

To stop this bulging effect of the upper and the lower portions of the bottle, we will use the free edge connectivity between these morph volumes.

1. Go to the morph volumes � update edges subpanel

2. Toggle update nodes to update ends

3. Switch edge tangency to free

4. Update the edges, working your way around the bottle

Figure 5: Selecting edges to update the tangencies

Figure 6: Changing the tengencies from Continuous to Free


1. Go to the morph�� move handles sub-panel.





3. Switch the translate option to along xyz.

4. Set x-val = -5.0

5. Select cylindrical coordinate system located at the top of the bottle.

6. Select the handle as shown in figure 4.

7. Click morph.

Figure 7: Bead created with free edge connectivity

Conclusions:

Using Morph volumes with appropriate tangencies, and symmetries we were able to create a bead on the given bottle.




Chapter 3

Shapes Shapes are collections of handle and/or node perturbations.

When you morph your model, HyperMorph stores the morph internally as a collection of perturbations. When you save a shape, the handle and/or node perturbations are stored in the new shape entity along with biasing factors for the handle perturbations and details such as the biasing style.

Creating shapes allows you to generate shape variables for optimization and store model changes for parametric studies.

When you are saving a shape, you can select whether to save it as handle perturbations or node perturbations. Shapes saved as node perturbations are not affected by changes to domains and handles. Shapes saved as handle perturbations are affected by changes to the domains and handles. Whenever you make a change to your model, HyperMorph will ask you if you want to preserve any existing shapes saved as handle perturbations by converting them to node perturbations.

If you plan to make changes to domains and handles, you should save shapes as node perturbations. If not, save shapes as handle perturbations and they will require less memory and disk space.

If you later decide that you want to change a shape from node perturbations to handle perturbations or vice versa you can do so in the convert sub-panel of the shapes panel.

Once a shape is saved, you can apply it to your model with any given scaling factor. Applying a shape in this way is like any other morphing operation and can be undone, redone, or saved as part of another shape.


Chapter 3: Shapes


Exercise 3.1: Morphing of a yoke via morph volumes and shapes In this exercise you will increase the diameter of one of the prongs of the Yoke using morph volumes. We will reflect the shape on to the other prong and finally position the combined shapes from one yoke to the other.

Figure 1: Yoke model

Tools:

The Morph Volumes panel can be accessed in one of the following ways:


• On the Tool page, go to HyperMorph �� morph volumes

Figure 2: Convert morph volumes sub-panel of the morph volumes panel

The shapes panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Shapes

• On the Tool page, go to HyperMorph �� shapes


Chapter 3: Shapes


Figure 3: Save as shape sub-panel of the shapes panel

The Morph panel can be accessed in one of the following ways:

• On the Morphing menu select Morph

• On the Tool page, go to HyperMorph �� morph

Figure 4: Move handles sub-panel of the morph panel

The Symmetry panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Symmetries


Figure 5: The create sub-panel of the symmetry panel


1. Open the HyperMesh file yoke.hm

2. On the tool bar, click the display icon and display off the collector yoke_2.

Step 2: Converting Hexas to Morph Volume

1. Go to the morph volumes � convert sub-panel.

2. Select elems >> by collector

3. Select hexas.

4. Convert.


Chapter 3: Shapes


Figure 6: Converting hexas volumes to morph volumes

Note that all the seven hexa elements are converted into Morph Volumes.

Step 3: Increase the prong diameter

1. Using the display panel ( ) switch on all the tags.

2. Go to the morph �� move handles sub panel.

3. Switch the mode selector from interactive to move to node.

4. Click options and make sure mvols: is active.

(toggle if it is set to inactive)

5. For handle, click Handle 1 and for node, click tag 1’.

6. Repeat this process for the other 35 handles.

Figure 7: Using tags to change the morph volumes


Chapter 3: Shapes


Step 4: Save the morphed shape

1. Go to the shapes � save as shape sub-panel

2. Use name= Prong1.

3. Toggle as handle perturbations to as node perturbations.

4. Click save.

5. Click undo all to bring the model to its original position before morphing.

Step 5: Create coordinate system

You need to reference a coordinate system in order to create symmetry.

1. On the tool bar click on the visualization icon .

2. Click on the morphing tab and Hide � shapes and morph volumes.

3. Go to HyperMorph �� systems

4. Keep the default CORD2 sub-panel.

5. Click origin and select the node which says origin

6. For X-axis, select the node which says X

7. For XY plane, select the node which says XY

8. Click create.

9. Click return.

Step 6: Create symmetry

1. Click symmetry.

2. Set name = symm1

3. Under domains, click the check-box for morph volumes. (make sure it is ticked)

4. Keep rest of the default settings.

5. Click syst and select the newly created coordinate system.

6. Click create.

7. Click return.

Step 7: Reflect Shape

1. Click shapes.

2. Change the sub panel to apply shapes.

3. Under shapes, change apply shapes to reflect shapes.

4. Change apply only to apply & create.


Chapter 3: Shapes


5. Keep the default auto-envelope.

6. Click shapes and select the newly created shape in the previous section.

7. Under reflect using: click symmetries and select the newly created symmetry.

8. Click reflect.

Note that a reflected shape has been created and applied on the other prong.

The name of the shape, created by reflecting, has the same name as the original shape with a suffix “1”.

Step 8: Position the shapes on to the other yoke In this step, we will position the shapes of the two prongs of the yoke onto the opposite yoke.

1. On the tool bar, click the display icon . Change the entity selection from comps to titles and display on all the titles.

2. Under shapes change reflect shapes to position shapes. 3. Change the selector from scale to no scale.

4. Click shapes and select the two shapes present in the model.

5. Under from: select three nodes namely from_N1, from_N2 and from_N3 for N1, N2 and N3.

6. Under to: select three nodes namely to_N1, to_N2 and to_N3 for N1, N2 and N3.

7. Click position.

8. Click return.


Chapter 3: Shapes


Note that the two or more shapes have been created and applied to the other yoke. The name of the first new shape (on the other yoke) will have a suffix “2” because it is the second copy of the first shape and the second shape will have a suffix of “11” as it is the first copy of the reflected shape.


Chapter 3: Shapes


Exercise 3.2: Using Shapes to interpolate loads Shapes are one of the most versatile of the morphing entities. Loads can be converted into shapes and vice versa. When you position shapes, they act on a volume equivalent to the initial volume, but at the new location. In this regard, shapes can be used to interpolate loads on a mesh given the loading at the boundaries of a volume.

In this exercise we are given a temperature distribution at points defined by a cube (hexa element). We will use shapes to interpolate the temperatures to the tube lying inside the cube.

Figure 1: Model

The shapes panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Shapes

• On the Tool page, go to HyperMorph �� shapes

Figure 2: Convert shapes sub-panel of the shapes panel


Chapter 3: Shapes



1. Open the HyperMesh file s_bend_tube.hm.

Step 2: Convert temperatures to shapes

1. Go to the shapes � convert sub-panel

2. Switch the conversion type to temperature to shapes.

3. For loadcols select temperature.

4. Convert

Figure 3: The base and the node for translating the shape

Note that the temperature loads have been converted into shape vectors.

The shape vectors are proportional to the temperature loads on the corners of the cube and the distances from those corners.

The name of the converted shape is the same as the temperature load collector.

Step 3: Translate the shape

1. Go to the shapes �� apply shapes sub-panel

2. Change the operation to translate shapes.

3. Change apply type to create new.

4. For envelop, use auto-envelope.

5. For shapes select temperature.

6. For from: base select the node as shown in figure 2.

7. For to: nodes select the node as shown in figure 2.

8. Click translate.


Chapter 3: Shapes


The shape has been transferred to the tube. We selected the same base and to node, effectively selecting a translate distance of 0.

A new shape is created with a suffix 1 (temperature1).

Step 4: Convert shape vectors to temperature loads

1. Go to the shapes �� convert sub-panel

2. Switch the conversion type to shapes to temperatures.

3. For shapes select temperature1.

The shape has been converted into temperature load.

Step 5: Result check

1. On the tool bar, click the visualization icon .

2. Click on the morphing tab and click hide the shapes.

3. On the tool bar, click the display icon

4. Switch off the display of the component cube.

5. Change comps to loadcols and display none.

6. On the main menu, point to BCs and select BCs Contour.

Make sure you expand the BC’s contour panel appropriately to visualize all the buttons.

7. From the list of loads, select temperature1.

8. Click Accept.

This takes you to the contour panel.

9. Select simulation = temperature1.

10. Select data type = temperature.

11. Click contour.


Chapter 3: Shapes


Figure 4: The contoured temperature results

Conclusions:

Using shapes we have been able to interpolate temperatures from the corners of a volume on to an object located in that volume.


Chapter 3: Shapes


Exercise 3.3: Record Shapes The record panel gives you the flexibility of making changes to the mesh using panels outside the HyperMorph module, and saving them as shapes.

In this exercise you will change a bead using the align Node Edit: Align panel and Record the shape. We will then reflect the shape to the other side of the mesh, to complete the mesh update.

Figure 1: Location to record the nodal movements on and reflect

Tools

The freehand panel can be accessed in one of the following ways:

• On the Morphing menu select Freehand

• On the Tool page, go to HyperMorph �� freehand

Figure 2: record subpanel

The Symmetry panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Symmetry



Chapter 3: Shapes


Figure 3: The create sub-panel of the symmetry panel


1. Open the HyperMesh file floor.hm.

Step 2: Start recording nodal movements

1. Go to the freehand � record sub-panel

2. Click start.

3. Exit from the HyperMorph module.

Step 3: Change the bead profile

1. On the Geom page, go to the node edit �� align node sub-panel

2. Select the nodes as shown in figure 3

Figure 4: first set of nodes to align

3. Align the nodes that lie between the 1st end: and 2nd end: nodes.

4. Repeat the same process to align the next row of nodes (figure 4)


Chapter 3: Shapes


Figure 5: Second set of nodes to align

Step 4: Stop the recording

1. Go to the freehand �� record sub-panel.

2. Click finish.

This stops the record process..

Step 5: Save the morphed shape.

1. Go to the save shape sub-panel

2. Set name= Morph1.

3. Toggle save option to as node perturbations.

4. Click save.


Step 4: Create coordinate system

1. Go to the systems �� create CORD2 sub-panel.

2. For origin select the node with tag origin.

For x-axis select node with tag x-axis.

For xy-plane select node with xy-plane.

3. Click create.

Step 5: Creation of symmetry

1. Go to the symmetry �� create sub-panel.

2. Set name = symm1.

3. For symmetry type use 1 plane.

4. For align with use x-axis.


Chapter 3: Shapes


5. Select the syst created in step 4.

6. Click create.

Note that 1 plane symmetry is created with a square symbol.

Step 6: Reflect shape

1. Go to the shape � apply shapes sub-panel.

2. Under shape change the option to reflect shapes.

3. Under reflect shapes change the option to apply & create.

4. For shape Morph1.

5. For symmetries select symm1.

6. Click reflect.

Conclusions

The shape (Morph1) is reflected to the other side. Also, the reflected shape has the same name with a suffix 1. The changes that you made on one side are thus transferred to the other side.


Chapter 3: Shapes



Chapter 3: Shapes


Chapter 4

Morph Constraints Morph constraints are a powerful tool that can be used to restrict the movement of nodes during morphing operations.

Whenever a handle is moved the constrained nodes are moved according to the handle perturbation and then projected back onto the feature to which they are constrained. This allows the nodes to slide across vectors, lines, planes, surfaces, meshes, to remain fixed, or to move as a cluster along with other nodes. You may also constrain nodes where handles are located which, in effect, constraining the handles. When a perturbation is applied to a constrained handle, the handle is moved along the constraint feature regardless of the applied perturbation.

Morph constraints can also be applied to domains. The smooth constraint, applies spline-based smoothing along constrained edge domains. Model constraints, allow you to set a given parametric target (such as length, angle, mass, etc.) and make HyperMorph adjust the model to meet that target.


Chapter 4: Morph Constraints


Exercise 4.1: Using morph constraints to keep the area of a windshield constant while changing its shape. In this exercise will change the shape of the windshield while keeping its area constant.

Figure 1: Windshield mesh

Tools

The morph constraints panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Morph Constraints

• On the Tool page, go to HyperMorph �� morph constraints

Figure 2: create/update sub-panel of the morph constraints panel


1. Open the HyperMesh file windshield.hm

Step 2: Creating a shape to define the degree of freedom for the mesh

1. Go to the freehand � move nodes sub-panel.

2. Switch the method to translate.




3. Key in

x = 0;

Y = -5 (negative 5) ;

Z = 0

4. Under moving nodes: click nodes >> by set and select move_node.

5. Under fixed nodes: click nodes >> by set and select fix_node.

6. Under affected elements: click elems >> displayed.

7. Click morph.

8. Go to the freehand �� save shape sub-panel

9. Set name = Shape1.

10. Toggle the save option to as node perturbations.

11. Click save.


This initial shape defines the direction in which the nodes have the freedom to move, as the shape of the windshield is changing, thus enabling us to keep the area at a constant.

Step 3: Create constraint

1. Go to the morph constraints �� create/update sub-panel

2. Set name = const1

3. Change the constraint type to area.

4. For shape select Shape1

5. Select elems >> displayed

6. Switch the area option to equal to

7. Click calculate to calculate the area of the mesh

Note that the value shows in the area box is: 1.085e+06 This is the actual surface area of the windshield which will be maintained.

8. Click create.

Note that the constraint is created. The symbol for the constraint is a matching-mesh.


10. Click the morphing tab and click hide for Shapes and Constraints.

Step 4: Create MorphVolume

1. Go to the morph volumes �� create sub-panel.

2. Switch the method to create morphvol




3. Toggle entity type to enclose elems

4. Select elems >> displayed.

5. Toggle coordinate system to global system

6. Click create.

The morph volume is created.


1. Go to the morph �� move handles sub-panel

2. Change the morph type to move to nodes.

3. For from: handle select handle1 (figure 3).

4. For from: node, select node1 (figure 3).

5. Repeat the process for the other handles and nodes.

Step 6: Save the morphed shape

1. Go to the morph �� save shape sub-panel

2. Set name = Shape2

3. Toggle the save option to as node perturbations.

4. Click save.

Step 7: Result check


2. Then click the morphing tab and click hide for Morph volumes.

node2

handle2

node1

handle1

Node3

handle3

node4 handle4




3. On the Tool page, go to the mass calc panel

4. For comps select windshield.

5. Click calculate.

The final area of the windshield is 1.085e+06, which is the same as the initial area. So, even though the profile of the windshield has changed, its area has not. As the height of the windshield reduced, it expanded in the direction provided by shape1.

Conclusions

Using morph constraints, we are able to change the shape of the windshield, while keeping its area constant.




Exercise 4.2: Using limiting constraints and freehand morphing to position a dummy and morph the seat. In this exercise, you will learn to position the H-point of the dummy on a seat cushion.

This helps to reduce design and remeshing of the seat based on the pre-stress analysis. To do this exercise you will be using a limiting constraint and freehand morphing.

Tools






1. Open the HyperMesh file dummy.hm

Step 2: Create constraints

1. Go to the morph constraints �� create/update sub-panel.

2. Set name= const1.




3. Set type of constraint to on elements.

4. Set the option under nodes to bounded.

5. Set project along: to normal.

6. Set distance= 2.

This will ensure that there is a distance of 2units between the dummy and the seat after the morphing is complete.

7. Use nodes >> by collector and select cushion.

8. Use elems >> by collector and select dummy.

9. Click create.

Constraints having a diamond shape are created.



2. Click the morphing tab and hide constraints.

3. Go to the freehand �� move nodes sub panel.

4. Switch moving method to translate

5. For moving nodes, use nodes >> by collector and select cushion.

6. For fixed nodes, use nodes >> by collector and select dummy.

7. For affected elements, use elems >> by collector and select cushion.

8. For the translate magnitude, set

x = 0,

y = 0 and

z = 80.

9. Morph.

The top surface of the cushion has conformed to the shape of the dummy.

The distance between the dummy and the seat-cushion is 2 mm.

Conclusions

Using limiting constraints, we are able to move a mesh, such that it moves an adjoining mesh along with it, thus preventing penetration between the two of them.




Exercise 4.3: Using cluster constraints to preserve the wheel shape while lengthening the body of a truck. When circular features are stretched, they become elliptical in shape. In some cases as in the wheels of a truck, this effect is not desirable. In such cases using cluster constraints, will allow you to translate the features, along with the morph, while maintaining its circular shape.

In the exercise we will be changing the length of the cab while preserving the shape of the wheel. To facilitate the morphing process we will be employing constraint and symmetry.

Figure 1: Truck model

Tools






1. Open the HyperMesh file truck.hm




Step 2: Create a coordinate system

1. Go to the HyperMorph module.

2. Go to the systems �� create CORD2 sub-panel.

3. For origin select the node with tag origin.

4. For x-axis, select node with tag x-axis.

5. For xy-plane, select node with xy-plane.

6. Create the coordinate system

7. On the tool bar, click the view icon and click right.

Step 3: Create and split the Morph Volume

1. Go to the morph volumes �� create sub-panel.

2. Switch the creation method to create morphvol

3. set entity type to enclose elements

4. Select elems >> all.

5. Set system to global system

6. Set buffer % = 5

The morph volume is created.

7. Go to the morph volumes �� split/combine sub-panel

8. Toggle the operation to split mvols

9. Toggle to split the morph volume by edges

10. Toggle the type of split to single split

11. Set single split = 0.44

12. Select the morph volume in the graphics window

13. Split the morph volume

The original morph volume is now split into two morph volumes.

Step 4: Create a symmetry

1. On the tool bar, click the view icon and click restore1.

2. Go to the symmetry �� create sub-panel

3. For name = symm1

4. Under domain, check the box for morph volumes.

Symmetry can be linked to either domains or morph volumes. In this exercise since we are dealing with morph volumes we will use the check to link the symmetry to the morph volume.




5. Switch the symmetry type to 1 plane.

6. For syst select the coordinate system created in step 2

7. Create the symmetry

A 1 plane symmetry with a square symbol has been created.



2. Switch the morphing mode to translate.

3. Switch the along option to along xyz,

4. Set the following values:

X val = 500

Y val = 0

Z val = 0

5. Select two handles as shown in figure 3.

6. Morph the front half of the truck

The Front End is stretched 500 units. Since the front wheels are also the part of the morph volumes they became elliptical after morphing. This is not desirable. We will undo this morphing, constrain the wheels and re-do it.

handle

handle




7. Undo all morphs

Step 6: Create a cluster constraint

As seen in the above picture, the front wheels, after morphing, become elliptical. To fix this issue, we will be employing a particular type of constraint, called a cluster constraint, which helps to keep the original shape of a portion of the model while morphing.

1. Go to the morph constraints �� create/update sub-panel

2. Set name = const1

3. Switch the constraint type to cluster

4. Select nodes >> by collector

5. Select comps >> by id.

6. Use id = 1-8 and then hit enter on the keyboard.

7. Select the components

8. Create the cluster constraint

The cluster constraints are created on the nodes of the selected components.





10. Then click the morphing tab and click hide for Constraints.


1. Repeat the steps in Step 5, to morph the front of the truck by 500 units.

The Front End is stretched 500 mm. The front wheels are moved in the morphing process while maintaining their circular shape

Conclusions

Using cluster constraints and morph volumes we are able to stretch the cab of the pickup, without distorting the wheels.




Chapter 5

Miscellaneous Topics Exercise 5.1: Remeshing domains after morphing Depending on the morphing being performed, there is a possibility that the mesh can get distorted. For such cases, HyperMorph provides a remeshing capability. The advantage of this remeshing is that the newly created elements are automatically a part of the original domain. This provides continuity to the morphing process along with proper element quality.

Figure 1: Model

Tools

The morph options panel can be accessed in one of the following ways:

• On the Morphing menu point to assign and select Morph Options

• On the Tool page, go to HyperMorph �� morph options


Chapter 5: Miscellaneous Topics


Figure 2: Morph options panel

The morph options panel can be accessed in one of the following ways:

• On the Morphing menu point to create and select Domains


Figure 3: Create sub-panel of the domains panel


• On the Morphing menu select Morph

• On the Tool page, go to HyperMorph �� morph

Figure 4: Move handles sub-panel of the morph panel


1. Open the HyperMesh file arm2D.hm.

Step 2: Set the morph options

1. Go to the morph options panel

2. Switch auto quality check to 2D jacobian

3. Set limit = 0.7

Step 3: Create domains and handles

1. Go to the domains �� create sub-panel

2. Switch the creation type to 2D domains.




3. Use elems >> by set and select set_1.

4. Create the domain

5. Use elems >> by set and select set_2.

6. Create the domain

Note that two 2D domains are created.

Step 4: translate the washer


2. Switch the mode to translate.

3. Switch the along option to along vector.

4. Select N1 and N2 as shown in figure 5.

Figure 5: Selecting N1 N2 for the translate vector

5. Set dist = 0.25

6. Morph the washer

The elements outside the washer get compressed as the washer moves. Also, as the elements fail (jacobian < 0.7) they are highlighted (figure 6).

Figure 6: Elements after morphing




Step 5: Remesh the domain

1. Go to the domains �� update sub-panel.

2. Switch the update option to remesh 2D.

3. Switch new mesh type: to quads.

4. Select 2D domain as shown in figure 7.

Figure 7: 2D domain to remesh

5. Remesh the domain

Figure 8: Updated mesh

The mesh is updated.




Conclusions:

Using this technique, you can update the mesh in regions that might have undergone excessive elemental deformation during morphing. Since the domains and handles are maintained, it allows you to conduct further morphing if need be.




hyper morph 90 intro manual

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