BilateralLagrangianConstraint
This component belongs to the category of Constraint Laws used for the Lagrange constraint resolution and inherits from the PairInteractionConstraint. The BilateralLagrangianConstraint defines an holonomic constraint law between a pair of simulated body, i.e. the constraint defined between the pair of objects must have an equality form:
\[
\Phi(x_1,x_2...)~=~0
\]
Such a constraint is suited for attachment cases or sliding joints. For an attachment case, if the vertex i of object 1 and the vertex j of object 2 are attached, the holonomic constraint law can be written as \(x_1(i)-x_2(j)~=~0\).
For a BilateralLagrangianConstraint, the constraint matrix \(\mathbf{H}\) (derivative of the constraint law) corresponds to:
- \(\mathbf{H}_1 = \begin{bmatrix} \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} 1 & 0 & 0\\\end{bmatrix}_i & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_1}\\ \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} 0 & 1 & 0\\\end{bmatrix}_i & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_1}\\ \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} 0 & 0 & 1\\\end{bmatrix}_i & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_1}\\ \end{bmatrix}\) for object 1
- \(\mathbf{H}_2 = \begin{bmatrix} \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} -1 & 0 & 0\\\end{bmatrix}_j & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_2}\\ \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} 0 & -1 & 0\\\end{bmatrix}_j & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_2}\\ \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_0 & ... & \begin{bmatrix} 0 & 0 & -1\\\end{bmatrix}_j & ... & \begin{bmatrix} 0 & 0 & 0\\\end{bmatrix}_{N_2}\\ \end{bmatrix}\) for object 2
As all constraint laws, the BilateralLagrangianConstraint will be called in the following functions and for the following steps:
getConstraintViolation(): project the free velocity in the constraint space and compute the free interpenetration \(\dot{\delta}_1^{free}=\mathbf{H}_1v_1^{free}\)buildConstraintMatrix(): build the compliance made up of \(dt\mathbf{H}_1\mathbf{A}_1^{-1}\mathbf{H}_1^T\) and \(dt\mathbf{H}_2\mathbf{A}_2^{-1}\mathbf{H}_2^T\)
Usage
The BilateralLagrangianConstraint can only be used in the context of Lagrange constraint resolution. The scene must therefore contain:
- a FreeMotionAnimationLoop
- a ConstraintSolver
Moreover, each constrained object must define in its node a ConstraintCorrection so that the corrective motion can be applied.
BilateralLagrangianConstraint defining an holonomic equality constraint (attachment).
Rigid3d
Templates:
- Rigid3d
Target: Sofa.Component.Constraint.Lagrangian.Model
namespace: sofa::component::constraint::lagrangian::model
parents:
- PairInteractionConstraint
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| group | ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. | 0 |
| constraintIndex | Constraint index (first index in the right hand term resolution vector) | 0 |
| endTime | The constraint stops acting after the given value. Use a negative value for infinite constraints | -1 |
| first_point | index of the constraint on the first model (object1) | |
| second_point | index of the constraint on the second model (object2) | |
| rest_vector | Relative position to maintain between attached points (optional) | |
| activate | control constraint activation (true by default) | 1 |
| keepOrientationDifference | keep the initial difference in orientation (only for rigids) | 0 |
| load | Apply this factor to the constraint force to enable incremental loading. This value should be in the interval [0.0, 1.0]. | 1 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| object1 | First object associated to this component | MechanicalState<Rigid3d> |
| object2 | Second object associated to this component | MechanicalState<Rigid3d> |
| topology1 | link to the first topology container | BaseMeshTopology |
| topology2 | link to the second topology container | BaseMeshTopology |
Vec3d
Templates:
- Vec3d
Target: Sofa.Component.Constraint.Lagrangian.Model
namespace: sofa::component::constraint::lagrangian::model
parents:
- PairInteractionConstraint
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| group | ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. | 0 |
| constraintIndex | Constraint index (first index in the right hand term resolution vector) | 0 |
| endTime | The constraint stops acting after the given value. Use a negative value for infinite constraints | -1 |
| first_point | index of the constraint on the first model (object1) | |
| second_point | index of the constraint on the second model (object2) | |
| rest_vector | Relative position to maintain between attached points (optional) | |
| activate | control constraint activation (true by default) | 1 |
| keepOrientationDifference | keep the initial difference in orientation (only for rigids) | 0 |
| load | Apply this factor to the constraint force to enable incremental loading. This value should be in the interval [0.0, 1.0]. | 1 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
| mechanicalStates | List of mechanical states to which this component is associated | BaseMechanicalState |
| object1 | First object associated to this component | MechanicalState<Vec3d> |
| object2 | Second object associated to this component | MechanicalState<Vec3d> |
| topology1 | link to the first topology container | BaseMeshTopology |
| topology2 | link to the second topology container | BaseMeshTopology |
Examples
BilateralLagrangianConstraint_PGS.scn
<?xml version="1.0"?>
<!-- BilateralLagrangianConstraint example -->
<Node name="root" dt="0.001" gravity="0 -981 0">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<DefaultVisualManagerLoop />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.001" maxIterations="1000" resolutionMethod="ProjectedGaussSeidel"/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />
<Node name="CUBE_0">
<MechanicalObject dy="2.5" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="1 0 0 1" dy="2.5" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" dy="2.5" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1" />
</Node>
</Node>
<Node name="CUBE_1">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="1 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1	-1.25 -1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_0/Constraints/points" object2="@CUBE_1/Constraints/points" first_point="0" second_point="0" />
<Node name="CUBE_2">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="0 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="-1.25 1.25 1.25	1.25 -1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_1/Constraints/points" object2="@CUBE_2/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_3">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-5.0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="0 1 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_3/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_4">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="-2.5" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="0 0 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 -1.25 1.25	1.25 1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_4/Constraints/points" first_point="1" second_point="0" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 -981 0")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.001", maxIterations="1000", resolutionMethod="ProjectedGaussSeidel")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.2", contactDistance="0.09", angleCone="0.0")
root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
cube_0 = root.addChild('CUBE_0')
cube_0.addObject('MechanicalObject', dy="2.5")
visu = CUBE_0.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="1 0 0 1", dy="2.5")
colli_cube = CUBE_0.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", template="Vec3", dy="2.5")
colli_cube.addObject('TriangleCollisionModel', simulated="0", moving="0")
colli_cube.addObject('LineCollisionModel', simulated="0", moving="0")
colli_cube.addObject('PointCollisionModel', simulated="0", moving="0")
constraints = CUBE_0.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1")
cube_1 = root.addChild('CUBE_1')
cube_1.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_1.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_1.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="0", dz="0.0")
cube_1.addObject('UniformMass', totalMass="0.1")
cube_1.addObject('UncoupledConstraintCorrection', )
visu = CUBE_1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="1 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_1.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_1.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1 -1.25 -1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_0/Constraints/points", object2="@CUBE_1/Constraints/points", first_point="0", second_point="0")
cube_2 = root.addChild('CUBE_2')
cube_2.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_2.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_2.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="0.0")
cube_2.addObject('UniformMass', totalMass="0.1")
cube_2.addObject('UncoupledConstraintCorrection', )
visu = CUBE_2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="0 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_2.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_2.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="-1.25 1.25 1.25 1.25 -1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_1/Constraints/points", object2="@CUBE_2/Constraints/points", first_point="1", second_point="0")
cube_3 = root.addChild('CUBE_3')
cube_3.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_3.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_3.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-5.0", dz="0.0")
cube_3.addObject('UniformMass', totalMass="0.1")
cube_3.addObject('UncoupledConstraintCorrection', )
visu = CUBE_3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="0 1 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_3.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_3.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_3/Constraints/points", first_point="1", second_point="0")
cube_4 = root.addChild('CUBE_4')
cube_4.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_4.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_4.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="-2.5")
cube_4.addObject('UniformMass', totalMass="0.1")
cube_4.addObject('UncoupledConstraintCorrection', )
visu = CUBE_4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="0 0 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_4.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_4.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 -1.25 1.25 1.25 1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_4/Constraints/points", first_point="1", second_point="0")
BilateralLagrangianConstraint_NNCG.scn
<?xml version="1.0"?>
<!-- BilateralInteractionLagrangianConstraint example -->
<Node name="root" dt="0.001" gravity="0 -981 0">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<DefaultVisualManagerLoop />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.001" maxIterations="1000" resolutionMethod="NonsmoothNonlinearConjugateGradient" newtonIterations="100"/>
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />
<Node name="CUBE_0">
<MechanicalObject dy="2.5" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="1 0 0 1" dy="2.5" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" dy="2.5" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1" />
</Node>
</Node>
<Node name="CUBE_1">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="1 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1	-1.25 -1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_0/Constraints/points" object2="@CUBE_1/Constraints/points" first_point="0" second_point="0" />
<Node name="CUBE_2">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="0 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="-1.25 1.25 1.25	1.25 -1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_1/Constraints/points" object2="@CUBE_2/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_3">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-5.0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="0 1 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_3/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_4">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="-2.5" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="0 0 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 -1.25 1.25	1.25 1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_4/Constraints/points" first_point="1" second_point="0" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 -981 0")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.001", maxIterations="1000", resolutionMethod="NonsmoothNonlinearConjugateGradient", newtonIterations="100")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.2", contactDistance="0.09", angleCone="0.0")
root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
cube_0 = root.addChild('CUBE_0')
cube_0.addObject('MechanicalObject', dy="2.5")
visu = CUBE_0.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="1 0 0 1", dy="2.5")
colli_cube = CUBE_0.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", template="Vec3", dy="2.5")
colli_cube.addObject('TriangleCollisionModel', simulated="0", moving="0")
colli_cube.addObject('LineCollisionModel', simulated="0", moving="0")
colli_cube.addObject('PointCollisionModel', simulated="0", moving="0")
constraints = CUBE_0.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1")
cube_1 = root.addChild('CUBE_1')
cube_1.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_1.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_1.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="0", dz="0.0")
cube_1.addObject('UniformMass', totalMass="0.1")
cube_1.addObject('UncoupledConstraintCorrection', )
visu = CUBE_1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="1 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_1.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_1.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1 -1.25 -1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_0/Constraints/points", object2="@CUBE_1/Constraints/points", first_point="0", second_point="0")
cube_2 = root.addChild('CUBE_2')
cube_2.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_2.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_2.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="0.0")
cube_2.addObject('UniformMass', totalMass="0.1")
cube_2.addObject('UncoupledConstraintCorrection', )
visu = CUBE_2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="0 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_2.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_2.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="-1.25 1.25 1.25 1.25 -1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_1/Constraints/points", object2="@CUBE_2/Constraints/points", first_point="1", second_point="0")
cube_3 = root.addChild('CUBE_3')
cube_3.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_3.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_3.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-5.0", dz="0.0")
cube_3.addObject('UniformMass', totalMass="0.1")
cube_3.addObject('UncoupledConstraintCorrection', )
visu = CUBE_3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="0 1 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_3.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_3.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_3/Constraints/points", first_point="1", second_point="0")
cube_4 = root.addChild('CUBE_4')
cube_4.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_4.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_4.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="-2.5")
cube_4.addObject('UniformMass', totalMass="0.1")
cube_4.addObject('UncoupledConstraintCorrection', )
visu = CUBE_4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="0 0 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_4.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_4.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 -1.25 1.25 1.25 1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_4/Constraints/points", first_point="1", second_point="0")
BilateralLagrangianConstraint_with_regularization_unsolvable.scn
<?xml version="1.0"?>
<!-- BilateralLagrangianConstraint example -->
<Node name="root" dt="0.001" gravity="0 0 -9.81">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<DefaultVisualManagerLoop />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.0001" maxIterations="1000" resolutionMethod="ProjectedGaussSeidel" regularizationTerm="0.0"/>
<Node name="TargetCube00">
<RegularGridTopology name="grid" nx="4" ny="4" nz="1" xmin="-1" xmax="1" ymin="-1" ymax="1" zmin="-0.5" zmax="-0.5" />
<MechanicalObject name="mstate" template="Vec3" showObject="true" showObjectScale="0.05" drawMode="1" showColor="1 0.2 0.5 1"/>
<BoxROI name="bottom" box="-1.1 -1.1 -1.1 1.1 1.1 -0.4" />
</Node>
<Node name="TargetCube10">
<RegularGridTopology name="grid" nx="4" ny="4" nz="1" xmin="-1" xmax="1" ymin="-1" ymax="1" zmin="-1" zmax="-1" />
<MechanicalObject name="mstate" template="Vec3" showObject="true" showObjectScale="0.05" drawMode="1" showColor="0.2 1 0.5 1"/>
<BoxROI name="bottom" box="-1.1 -1.1 -1.1 1.1 1.1 -0.4" />
</Node>
<Node name="DeformableCube0">
<VisualStyle displayFlags="showForceFields" />
<EulerImplicitSolver name="odesolver" printLog="false" />
<SparseLDLSolver name="linearSolver" template="CompressedRowSparseMatrixMat3x3d" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="4" xmin="-1" xmax="1" ymin="-1" ymax="1" zmin="-1" zmax="1" />
<MechanicalObject name="mstate" template="Vec3" />
<HexahedronFEMForceField poissonRatio="0.49" youngModulus="700000"/>
<UniformMass totalMass="10" />
<BoxROI name="bottom" box="-1.1 -1.1 -1.1 1.1 1.1 -0.9" />
<BoxROI name="top" box="-1.1 -1.1 0.9 1.1 1.1 1.1" />
<LinearSolverConstraintCorrection linearSolver="@linearSolver"/>
</Node>
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube0/mstate" first_point="@DeformableCube0/bottom.indices"
object2="@TargetCube00/mstate" second_point="@TargetCube00/bottom.indices" />
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube0/mstate" first_point="@DeformableCube0/bottom.indices"
object2="@TargetCube10/mstate" second_point="@TargetCube10/bottom.indices" />
<Node name="TargetCube01">
<RegularGridTopology name="grid" nx="4" ny="4" nz="1" xmin="2" xmax="4" ymin="-1" ymax="1" zmin="-0.5" zmax="-0.5" />
<MechanicalObject name="mstate" template="Vec3" showObject="true" showObjectScale="0.05" drawMode="1" showColor="1 0.2 0.5 1"/>
<BoxROI name="bottom" box="1.9 -1.1 -1.1 4.1 1.1 -0.4" />
</Node>
<Node name="TargetCube11">
<RegularGridTopology name="grid" nx="4" ny="4" nz="1" xmin="2" xmax="4" ymin="-1" ymax="1" zmin="-1" zmax="-1" />
<MechanicalObject name="mstate" template="Vec3" showObject="true" showObjectScale="0.05" drawMode="1" showColor="0.2 1 0.5 1"/>
<BoxROI name="bottom" box="1.9 -1.1 -1.1 4.1 1.1 -0.4" />
</Node>
<Node name="DeformableCube1">
<VisualStyle displayFlags="showForceFields" />
<EulerImplicitSolver name="odesolver" printLog="false" />
<SparseLDLSolver name="linearSolver" template="CompressedRowSparseMatrixMat3x3d" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="4" xmin="2" xmax="4" ymin="-1" ymax="1" zmin="-1" zmax="1" />
<MechanicalObject name="mstate" template="Vec3" />
<HexahedronFEMForceField poissonRatio="0.49" youngModulus="700000"/>
<UniformMass totalMass="10" />
<BoxROI name="bottom" box="1.9 -1.1 -1.1 4.1 1.1 -0.9" />
<BoxROI name="top" box="1.9 -1.1 0.9 4.1 1.1 1.1" />
<LinearSolverConstraintCorrection linearSolver="@linearSolver" regularizationTerm="0.01"/>
</Node>
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube1/mstate" first_point="@DeformableCube1/bottom.indices"
object2="@TargetCube01/mstate" second_point="@TargetCube01/bottom.indices" />
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube1/mstate" first_point="@DeformableCube1/bottom.indices"
object2="@TargetCube11/mstate" second_point="@TargetCube11/bottom.indices" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 0 -9.81")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.0001", maxIterations="1000", resolutionMethod="ProjectedGaussSeidel", regularizationTerm="0.0")
target_cube00 = root.addChild('TargetCube00')
target_cube00.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="1", xmin="-1", xmax="1", ymin="-1", ymax="1", zmin="-0.5", zmax="-0.5")
target_cube00.addObject('MechanicalObject', name="mstate", template="Vec3", showObject="true", showObjectScale="0.05", drawMode="1", showColor="1 0.2 0.5 1")
target_cube00.addObject('BoxROI', name="bottom", box="-1.1 -1.1 -1.1 1.1 1.1 -0.4")
target_cube10 = root.addChild('TargetCube10')
target_cube10.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="1", xmin="-1", xmax="1", ymin="-1", ymax="1", zmin="-1", zmax="-1")
target_cube10.addObject('MechanicalObject', name="mstate", template="Vec3", showObject="true", showObjectScale="0.05", drawMode="1", showColor="0.2 1 0.5 1")
target_cube10.addObject('BoxROI', name="bottom", box="-1.1 -1.1 -1.1 1.1 1.1 -0.4")
deformable_cube0 = root.addChild('DeformableCube0')
deformable_cube0.addObject('VisualStyle', displayFlags="showForceFields")
deformable_cube0.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
deformable_cube0.addObject('SparseLDLSolver', name="linearSolver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube0.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="4", xmin="-1", xmax="1", ymin="-1", ymax="1", zmin="-1", zmax="1")
deformable_cube0.addObject('MechanicalObject', name="mstate", template="Vec3")
deformable_cube0.addObject('HexahedronFEMForceField', poissonRatio="0.49", youngModulus="700000")
deformable_cube0.addObject('UniformMass', totalMass="10")
deformable_cube0.addObject('BoxROI', name="bottom", box="-1.1 -1.1 -1.1 1.1 1.1 -0.9")
deformable_cube0.addObject('BoxROI', name="top", box="-1.1 -1.1 0.9 1.1 1.1 1.1")
deformable_cube0.addObject('LinearSolverConstraintCorrection', linearSolver="@linearSolver")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube0/mstate", first_point="@DeformableCube0/bottom.indices", object2="@TargetCube00/mstate", second_point="@TargetCube00/bottom.indices")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube0/mstate", first_point="@DeformableCube0/bottom.indices", object2="@TargetCube10/mstate", second_point="@TargetCube10/bottom.indices")
target_cube01 = root.addChild('TargetCube01')
target_cube01.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="1", xmin="2", xmax="4", ymin="-1", ymax="1", zmin="-0.5", zmax="-0.5")
target_cube01.addObject('MechanicalObject', name="mstate", template="Vec3", showObject="true", showObjectScale="0.05", drawMode="1", showColor="1 0.2 0.5 1")
target_cube01.addObject('BoxROI', name="bottom", box="1.9 -1.1 -1.1 4.1 1.1 -0.4")
target_cube11 = root.addChild('TargetCube11')
target_cube11.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="1", xmin="2", xmax="4", ymin="-1", ymax="1", zmin="-1", zmax="-1")
target_cube11.addObject('MechanicalObject', name="mstate", template="Vec3", showObject="true", showObjectScale="0.05", drawMode="1", showColor="0.2 1 0.5 1")
target_cube11.addObject('BoxROI', name="bottom", box="1.9 -1.1 -1.1 4.1 1.1 -0.4")
deformable_cube1 = root.addChild('DeformableCube1')
deformable_cube1.addObject('VisualStyle', displayFlags="showForceFields")
deformable_cube1.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
deformable_cube1.addObject('SparseLDLSolver', name="linearSolver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube1.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="4", xmin="2", xmax="4", ymin="-1", ymax="1", zmin="-1", zmax="1")
deformable_cube1.addObject('MechanicalObject', name="mstate", template="Vec3")
deformable_cube1.addObject('HexahedronFEMForceField', poissonRatio="0.49", youngModulus="700000")
deformable_cube1.addObject('UniformMass', totalMass="10")
deformable_cube1.addObject('BoxROI', name="bottom", box="1.9 -1.1 -1.1 4.1 1.1 -0.9")
deformable_cube1.addObject('BoxROI', name="top", box="1.9 -1.1 0.9 4.1 1.1 1.1")
deformable_cube1.addObject('LinearSolverConstraintCorrection', linearSolver="@linearSolver", regularizationTerm="0.01")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube1/mstate", first_point="@DeformableCube1/bottom.indices", object2="@TargetCube01/mstate", second_point="@TargetCube01/bottom.indices")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube1/mstate", first_point="@DeformableCube1/bottom.indices", object2="@TargetCube11/mstate", second_point="@TargetCube11/bottom.indices")
BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">
<Node name="plugins" >
<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 [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<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.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
</Node>
<FreeMotionAnimationLoop computeBoundingBox="0"/>
<GenericConstraintSolver maxIterations="1000" tolerance="1e-3"/>
<VisualStyle displayFlags="showBehaviorModels showVisual showForceFields" />
<CollisionPipeline name="CollisionLoop" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="CollisionReponse" response="FrictionContactConstraint" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
<Node name="DeformableGrid" >
<RegularGridTopology name="grid" n="6 6 6" min="-10 -10 -10" max="10 10 10" p0="-10 -10 -10" />
<HexahedronSetTopologyContainer name="Container" src="@grid"/>
<MechanicalObject template="Vec3d" name="gridDofs"/>
<Node name="DeformableCube" bbox="-10 -10 -10 10 10 10" >
<EulerImplicitSolver name="cg_odesolver" />
<SparseLDLSolver name="linear solver" template="CompressedRowSparseMatrixMat3x3d" />
<TetrahedronSetTopologyContainer name="Container" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
<MechanicalObject template="Vec3d" name="DeformableDoFs" position="@../gridDofs.position"/>
<Hexa2TetraTopologicalMapping name="ExtratTetraMapping" input="@../Container" output="@Container" />
<UniformMass template="Vec3d" name="NodalMass" vertexMass="0.25" />
<TetrahedronFEMForceField template="Vec3d" name="LinearElasticity" method="large" poissonRatio="0.4" youngModulus="500" />
<BoxROI template="Vec3d" name="box_roi" box="-11 -11 -11 11 -9 11" indices="0" drawSize="0" />
<LinearSolverConstraintCorrection />
<!-- Interface (of soft body) between both bodies -->
<Node name="MappedInterface" >
<MechanicalObject template="Vec3d" name="MappedDoFs" position="@../box_roi.pointsInROI" showObject="1" showObjectScale="0"/>
<BarycentricMapping input="@../DeformableDoFs" output="@MappedDoFs" />
</Node>
<Node name="Visualization" >
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping name="ExtractSurfaceMapping" input="@../Container" output="@Container" />
<Node name="VisualModel" >
<OglModel name="VisualModel" material="Default Diffuse 1 1 0 0 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" position="@../../DeformableDoFs.position" triangles="@Container.triangles"/>
<IdentityMapping template="Vec3d,Vec3d" name="VisualMapping" input="@../../DeformableDoFs" output="@VisualModel" />
</Node>
</Node>
</Node>
</Node>
<!-- Rigid body -->
<Node name="RigidBody" >
<EulerImplicitSolver name="EulerImplicit" />
<CGLinearSolver template="GraphScattered" name="CG-LinearSolver" iterations="25" tolerance="1e-09" threshold="1e-09" />
<MechanicalObject template="Rigid3d" name="rigidDofs" position="0 -15 0 0 0 0 1" showObject="1" showObjectScale="5"/>
<UniformMass name="NodalMass" totalMass="1" />
<LinearMovementProjectiveConstraint template="Rigid3" name="MotionConstraint" keyTimes="0 1 2 10 15 9999" movements="0 0 0 0 0 0
0 -5 0 0 0 0
0 0 -1 0 0 0
0 0 -1 0 0 6.3
0 0 -1 0 0 0
0 0 -1 0 0 0" />
<UncoupledConstraintCorrection />
<!-- Interface (of rigid body) between both bodies -->
<Node name="MappedRigidInterface" >
<MechanicalObject template="Vec3d" name="MappedDoFs" position="@DeformableGrid/DeformableCube/box_roi.pointsInROI" showObject="1" showObjectScale="10" />
<RigidMapping input="@../rigidDofs" output="@MappedDoFs" globalToLocalCoords="1"/>
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3d" name="Attachment" object1="@DeformableGrid/DeformableCube/MappedInterface" object2="@RigidBody/MappedRigidInterface" first_point="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35" second_point="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01")
plugins = root.addChild('plugins')
plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")
plugins.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
plugins.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('FreeMotionAnimationLoop', computeBoundingBox="0")
root.addObject('GenericConstraintSolver', maxIterations="1000", tolerance="1e-3")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showVisual showForceFields")
root.addObject('CollisionPipeline', name="CollisionLoop", verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('CollisionResponse', name="CollisionReponse", response="FrictionContactConstraint")
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
deformable_grid = root.addChild('DeformableGrid')
deformable_grid.addObject('RegularGridTopology', name="grid", n="6 6 6", min="-10 -10 -10", max="10 10 10", p0="-10 -10 -10")
deformable_grid.addObject('HexahedronSetTopologyContainer', name="Container", src="@grid")
deformable_grid.addObject('MechanicalObject', template="Vec3d", name="gridDofs")
deformable_cube = DeformableGrid.addChild('DeformableCube', bbox="-10 -10 -10 10 10 10")
deformable_cube.addObject('EulerImplicitSolver', name="cg_odesolver")
deformable_cube.addObject('SparseLDLSolver', name="linear solver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube.addObject('TetrahedronSetTopologyContainer', name="Container")
deformable_cube.addObject('TetrahedronSetTopologyModifier', name="Modifier")
deformable_cube.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3d", name="GeomAlgo")
deformable_cube.addObject('MechanicalObject', template="Vec3d", name="DeformableDoFs", position="@../gridDofs.position")
deformable_cube.addObject('Hexa2TetraTopologicalMapping', name="ExtratTetraMapping", input="@../Container", output="@Container")
deformable_cube.addObject('UniformMass', template="Vec3d", name="NodalMass", vertexMass="0.25")
deformable_cube.addObject('TetrahedronFEMForceField', template="Vec3d", name="LinearElasticity", method="large", poissonRatio="0.4", youngModulus="500")
deformable_cube.addObject('BoxROI', template="Vec3d", name="box_roi", box="-11 -11 -11 11 -9 11", indices="0", drawSize="0")
deformable_cube.addObject('LinearSolverConstraintCorrection', )
mapped_interface = DeformableCube.addChild('MappedInterface')
mapped_interface.addObject('MechanicalObject', template="Vec3d", name="MappedDoFs", position="@../box_roi.pointsInROI", showObject="1", showObjectScale="0")
mapped_interface.addObject('BarycentricMapping', input="@../DeformableDoFs", output="@MappedDoFs")
visualization = DeformableCube.addChild('Visualization')
visualization.addObject('TriangleSetTopologyContainer', name="Container")
visualization.addObject('TriangleSetTopologyModifier', name="Modifier")
visualization.addObject('TriangleSetGeometryAlgorithms', name="GeomAlgo")
visualization.addObject('Tetra2TriangleTopologicalMapping', name="ExtractSurfaceMapping", input="@../Container", output="@Container")
visual_model = Visualization.addChild('VisualModel')
visual_model.addObject('OglModel', name="VisualModel", material="Default Diffuse 1 1 0 0 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45", position="@../../DeformableDoFs.position", triangles="@Container.triangles")
visual_model.addObject('IdentityMapping', template="Vec3d,Vec3d", name="VisualMapping", input="@../../DeformableDoFs", output="@VisualModel")
rigid_body = root.addChild('RigidBody')
rigid_body.addObject('EulerImplicitSolver', name="EulerImplicit")
rigid_body.addObject('CGLinearSolver', template="GraphScattered", name="CG-LinearSolver", iterations="25", tolerance="1e-09", threshold="1e-09")
rigid_body.addObject('MechanicalObject', template="Rigid3d", name="rigidDofs", position="0 -15 0 0 0 0 1", showObject="1", showObjectScale="5")
rigid_body.addObject('UniformMass', name="NodalMass", totalMass="1")
rigid_body.addObject('LinearMovementProjectiveConstraint', template="Rigid3", name="MotionConstraint", keyTimes="0 1 2 10 15 9999", movements="0 0 0 0 0 0 0 -5 0 0 0 0 0 0 -1 0 0 0 0 0 -1 0 0 6.3 0 0 -1 0 0 0 0 0 -1 0 0 0")
rigid_body.addObject('UncoupledConstraintCorrection', )
mapped_rigid_interface = RigidBody.addChild('MappedRigidInterface')
mapped_rigid_interface.addObject('MechanicalObject', template="Vec3d", name="MappedDoFs", position="@DeformableGrid/DeformableCube/box_roi.pointsInROI", showObject="1", showObjectScale="10")
mapped_rigid_interface.addObject('RigidMapping', input="@../rigidDofs", output="@MappedDoFs", globalToLocalCoords="1")
root.addObject('BilateralLagrangianConstraint', template="Vec3d", name="Attachment", object1="@DeformableGrid/DeformableCube/MappedInterface", object2="@RigidBody/MappedRigidInterface", first_point="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35", second_point="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35")
BilateralLagrangianConstraint_Rigid.scn
<?xml version="1.0"?>
<!-- BilateralLagrangianConstraint example using rigid-->
<Node name="root" dt="0.1" gravity="0 -0.981 0">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<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 [BeamFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<VisualStyle displayFlags="showBehaviorModels showForceFields" />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.001" maxIterations="1000"/>
<Node name="Beam1">
<EulerImplicitSolver name="odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<BTDLinearSolver printLog="false" verbose="false" />
<MechanicalObject template="Rigid3" name="DOFs1" position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 2 0 0 0 0 0 1 3 0 0 0 0 0 1 4 0 0 0 0 0 1 5 0 0 0 0 0 1 6 0 0 0 0 0 1 7 0 0 0 0 0 1" />
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
<UniformMass vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1 0" printLog="false" />
<BeamFEMForceField name="FEM" poissonRatio="0.49" radius="0.1" youngModulus="2000000" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="7" />
<LinearSolverConstraintCorrection />
<SphereCollisionModel radius="0.1" group="1"/>
<Node name="ConstraintPoint">
<MechanicalObject template="Rigid3" name="dof1" position="0 0 0 0 0 -0.707107 0.707107 " />
<RigidMapping index="0" />
</Node>
</Node>
<Node name="Beam2">
<EulerImplicitSolver name="odesolver" printLog="false" />
<BTDLinearSolver printLog="false" verbose="false" />
<MechanicalObject template="Rigid3" name="DOFs2" position="0 0 0 0 0 -0.707107 0.707107 0 -1 0 0 0-0.707107 0.707107 0 -2 0 0 0 -0.707107 0.707107 0 -3 0 0 0 -0.707107 0.707107 0 -4 0 0 0 -0.707107 0.707107 0 -5 0 0 0 -0.707107 0.707107 0 -6 0 0 0 -0.707107 0.707107 0 -7 0 0 0 -0.707107 0.707107" />
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7" />
<UniformMass vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1 0" printLog="false" />
<BeamFEMForceField name="FEM" poissonRatio="0.49" radius="0.1" youngModulus="20000000" />
<LinearSolverConstraintCorrection />
<SphereCollisionModel radius="0.1" group="1"/>
</Node>
<BilateralLagrangianConstraint template="Rigid3" object1="@Beam1/ConstraintPoint/dof1" object2="@Beam2/DOFs2" first_point="0" second_point="0" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.1", gravity="0 -0.981 0")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields")
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.001", maxIterations="1000")
beam1 = root.addChild('Beam1')
beam1.addObject('EulerImplicitSolver', name="odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
beam1.addObject('BTDLinearSolver', printLog="false", verbose="false")
beam1.addObject('MechanicalObject', template="Rigid3", name="DOFs1", position="0 0 0 0 0 0 1 1 0 0 0 0 0 1 2 0 0 0 0 0 1 3 0 0 0 0 0 1 4 0 0 0 0 0 1 5 0 0 0 0 0 1 6 0 0 0 0 0 1 7 0 0 0 0 0 1")
beam1.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7")
beam1.addObject('UniformMass', vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1 0", printLog="false")
beam1.addObject('BeamFEMForceField', name="FEM", poissonRatio="0.49", radius="0.1", youngModulus="2000000")
beam1.addObject('FixedProjectiveConstraint', name="FixedProjectiveConstraint", indices="7")
beam1.addObject('LinearSolverConstraintCorrection', )
beam1.addObject('SphereCollisionModel', radius="0.1", group="1")
constraint_point = Beam1.addChild('ConstraintPoint')
constraint_point.addObject('MechanicalObject', template="Rigid3", name="dof1", position="0 0 0 0 0 -0.707107 0.707107 ")
constraint_point.addObject('RigidMapping', index="0")
beam2 = root.addChild('Beam2')
beam2.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
beam2.addObject('BTDLinearSolver', printLog="false", verbose="false")
beam2.addObject('MechanicalObject', template="Rigid3", name="DOFs2", position="0 0 0 0 0 -0.707107 0.707107 0 -1 0 0 0-0.707107 0.707107 0 -2 0 0 0 -0.707107 0.707107 0 -3 0 0 0 -0.707107 0.707107 0 -4 0 0 0 -0.707107 0.707107 0 -5 0 0 0 -0.707107 0.707107 0 -6 0 0 0 -0.707107 0.707107 0 -7 0 0 0 -0.707107 0.707107")
beam2.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3 3 4 4 5 5 6 6 7")
beam2.addObject('UniformMass', vertexMass="1 1 0.01 0 0 0 0.1 0 0 0 0.1 0", printLog="false")
beam2.addObject('BeamFEMForceField', name="FEM", poissonRatio="0.49", radius="0.1", youngModulus="20000000")
beam2.addObject('LinearSolverConstraintCorrection', )
beam2.addObject('SphereCollisionModel', radius="0.1", group="1")
root.addObject('BilateralLagrangianConstraint', template="Rigid3", object1="@Beam1/ConstraintPoint/dof1", object2="@Beam2/DOFs2", first_point="0", second_point="0")
BilateralLagrangianConstraint_with_regularization_solvable.scn
<?xml version="1.0"?>
<!-- BilateralLagrangianConstraint example -->
<Node name="root" dt="0.001" gravity="0 0 -9.81">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<DefaultVisualManagerLoop />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.0001" maxIterations="1000" resolutionMethod="ProjectedGaussSeidel" regularizationTerm="0.0"/>
<Node name="TargetCube0">
<RegularGridTopology name="grid" nx="4" ny="4" nz="2" xmin="-1" xmax="1" ymin="-1" ymax="1" zmin="-0.5" zmax="0.5" />
<MechanicalObject name="mstate" template="Vec3"/>
<BoxROI name="bottom" box="-1.1 -1.1 -1.1 1.1 1.1 -0.4" />
<BoxROI name="top" box="-1.1 -1.1 0.4 1.1 1.1 1.1" />
</Node>
<Node name="DeformableCube0">
<VisualStyle displayFlags="showForceFields" />
<EulerImplicitSolver name="odesolver" printLog="false" />
<SparseLDLSolver name="linearSolver" template="CompressedRowSparseMatrixMat3x3d" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="4" xmin="-1" xmax="1" ymin="-1" ymax="1" zmin="-1" zmax="1" />
<MechanicalObject name="mstate" template="Vec3" />
<HexahedronFEMForceField poissonRatio="0.49" youngModulus="700000"/>
<UniformMass totalMass="10" />
<BoxROI name="bottom" box="-1.1 -1.1 -1.1 1.1 1.1 -0.9" />
<BoxROI name="top" box="-1.1 -1.1 0.9 1.1 1.1 1.1" />
<LinearSolverConstraintCorrection linearSolver="@linearSolver"/>
</Node>
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube0/mstate" first_point="@DeformableCube0/bottom.indices"
object2="@TargetCube0/mstate" second_point="@TargetCube0/bottom.indices" />
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube0/mstate" first_point="@DeformableCube0/top.indices"
object2="@TargetCube0/mstate" second_point="@TargetCube0/top.indices" />
<!-- With regularization -->
<Node name="TargetCube1">
<RegularGridTopology name="grid" nx="4" ny="4" nz="2" xmin="2" xmax="4" ymin="-1" ymax="1" zmin="-0.5" zmax="0.5" />
<MechanicalObject name="mstate" template="Vec3"/>
<BoxROI name="bottom" box="1.9 -1.1 -1.1 4.1 1.1 -0.4" />
<BoxROI name="top" box="1.9 -1.1 0.4 4.1 1.1 1.1" />
</Node>
<Node name="DeformableCube1">
<VisualStyle displayFlags="showForceFields" />
<EulerImplicitSolver name="odesolver" printLog="false" />
<SparseLDLSolver name="linearSolver" template="CompressedRowSparseMatrixMat3x3d" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="4" xmin="2" xmax="4" ymin="-1" ymax="1" zmin="-1" zmax="1" />
<MechanicalObject name="mstate" template="Vec3" />
<HexahedronFEMForceField poissonRatio="0.49" youngModulus="700000"/>
<UniformMass totalMass="10" />
<BoxROI name="bottom" box="1.9 -1.1 -1.1 4.1 1.1 -0.9" />
<BoxROI name="top" box="1.9 -1.1 0.9 4.1 1.1 1.1" />
<LinearSolverConstraintCorrection linearSolver="@linearSolver" regularizationTerm="0.002"/>
</Node>
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube1/mstate" first_point="@DeformableCube1/bottom.indices"
object2="@TargetCube1/mstate" second_point="@TargetCube1/bottom.indices" />
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube1/mstate" first_point="@DeformableCube1/top.indices"
object2="@TargetCube1/mstate" second_point="@TargetCube1/top.indices" />
<!-- With more regularization -->
<Node name="TargetCube2">
<RegularGridTopology name="grid" nx="4" ny="4" nz="2" xmin="5" xmax="7" ymin="-1" ymax="1" zmin="-0.5" zmax="0.5" />
<MechanicalObject name="mstate" template="Vec3"/>
<BoxROI name="bottom" box="4.9 -1.1 -1.1 7.1 1.1 -0.4" />
<BoxROI name="top" box="4.9 -1.1 0.4 7.1 1.1 1.1" />
</Node>
<Node name="DeformableCube2">
<VisualStyle displayFlags="showForceFields" />
<EulerImplicitSolver name="odesolver" printLog="false" />
<SparseLDLSolver name="linearSolver" template="CompressedRowSparseMatrixMat3x3d" />
<RegularGridTopology name="grid" nx="4" ny="4" nz="4" xmin="5" xmax="7" ymin="-1" ymax="1" zmin="-1" zmax="1" />
<MechanicalObject name="mstate" template="Vec3" />
<HexahedronFEMForceField poissonRatio="0.49" youngModulus="700000"/>
<UniformMass totalMass="10" />
<BoxROI name="bottom" box="4.9 -1.1 -1.1 7.1 1.1 -0.9" />
<BoxROI name="top" box="4.9 -1.1 0.9 7.1 1.1 1.1" />
<LinearSolverConstraintCorrection linearSolver="@linearSolver" regularizationTerm="0.005"/>
</Node>
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube2/mstate" first_point="@DeformableCube2/bottom.indices"
object2="@TargetCube2/mstate" second_point="@TargetCube2/bottom.indices" />
<BilateralLagrangianConstraint template="Vec3"
object1="@DeformableCube2/mstate" first_point="@DeformableCube2/top.indices"
object2="@TargetCube2/mstate" second_point="@TargetCube2/top.indices" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 0 -9.81")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.0001", maxIterations="1000", resolutionMethod="ProjectedGaussSeidel", regularizationTerm="0.0")
target_cube0 = root.addChild('TargetCube0')
target_cube0.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="2", xmin="-1", xmax="1", ymin="-1", ymax="1", zmin="-0.5", zmax="0.5")
target_cube0.addObject('MechanicalObject', name="mstate", template="Vec3")
target_cube0.addObject('BoxROI', name="bottom", box="-1.1 -1.1 -1.1 1.1 1.1 -0.4")
target_cube0.addObject('BoxROI', name="top", box="-1.1 -1.1 0.4 1.1 1.1 1.1")
deformable_cube0 = root.addChild('DeformableCube0')
deformable_cube0.addObject('VisualStyle', displayFlags="showForceFields")
deformable_cube0.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
deformable_cube0.addObject('SparseLDLSolver', name="linearSolver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube0.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="4", xmin="-1", xmax="1", ymin="-1", ymax="1", zmin="-1", zmax="1")
deformable_cube0.addObject('MechanicalObject', name="mstate", template="Vec3")
deformable_cube0.addObject('HexahedronFEMForceField', poissonRatio="0.49", youngModulus="700000")
deformable_cube0.addObject('UniformMass', totalMass="10")
deformable_cube0.addObject('BoxROI', name="bottom", box="-1.1 -1.1 -1.1 1.1 1.1 -0.9")
deformable_cube0.addObject('BoxROI', name="top", box="-1.1 -1.1 0.9 1.1 1.1 1.1")
deformable_cube0.addObject('LinearSolverConstraintCorrection', linearSolver="@linearSolver")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube0/mstate", first_point="@DeformableCube0/bottom.indices", object2="@TargetCube0/mstate", second_point="@TargetCube0/bottom.indices")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube0/mstate", first_point="@DeformableCube0/top.indices", object2="@TargetCube0/mstate", second_point="@TargetCube0/top.indices")
target_cube1 = root.addChild('TargetCube1')
target_cube1.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="2", xmin="2", xmax="4", ymin="-1", ymax="1", zmin="-0.5", zmax="0.5")
target_cube1.addObject('MechanicalObject', name="mstate", template="Vec3")
target_cube1.addObject('BoxROI', name="bottom", box="1.9 -1.1 -1.1 4.1 1.1 -0.4")
target_cube1.addObject('BoxROI', name="top", box="1.9 -1.1 0.4 4.1 1.1 1.1")
deformable_cube1 = root.addChild('DeformableCube1')
deformable_cube1.addObject('VisualStyle', displayFlags="showForceFields")
deformable_cube1.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
deformable_cube1.addObject('SparseLDLSolver', name="linearSolver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube1.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="4", xmin="2", xmax="4", ymin="-1", ymax="1", zmin="-1", zmax="1")
deformable_cube1.addObject('MechanicalObject', name="mstate", template="Vec3")
deformable_cube1.addObject('HexahedronFEMForceField', poissonRatio="0.49", youngModulus="700000")
deformable_cube1.addObject('UniformMass', totalMass="10")
deformable_cube1.addObject('BoxROI', name="bottom", box="1.9 -1.1 -1.1 4.1 1.1 -0.9")
deformable_cube1.addObject('BoxROI', name="top", box="1.9 -1.1 0.9 4.1 1.1 1.1")
deformable_cube1.addObject('LinearSolverConstraintCorrection', linearSolver="@linearSolver", regularizationTerm="0.002")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube1/mstate", first_point="@DeformableCube1/bottom.indices", object2="@TargetCube1/mstate", second_point="@TargetCube1/bottom.indices")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube1/mstate", first_point="@DeformableCube1/top.indices", object2="@TargetCube1/mstate", second_point="@TargetCube1/top.indices")
target_cube2 = root.addChild('TargetCube2')
target_cube2.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="2", xmin="5", xmax="7", ymin="-1", ymax="1", zmin="-0.5", zmax="0.5")
target_cube2.addObject('MechanicalObject', name="mstate", template="Vec3")
target_cube2.addObject('BoxROI', name="bottom", box="4.9 -1.1 -1.1 7.1 1.1 -0.4")
target_cube2.addObject('BoxROI', name="top", box="4.9 -1.1 0.4 7.1 1.1 1.1")
deformable_cube2 = root.addChild('DeformableCube2')
deformable_cube2.addObject('VisualStyle', displayFlags="showForceFields")
deformable_cube2.addObject('EulerImplicitSolver', name="odesolver", printLog="false")
deformable_cube2.addObject('SparseLDLSolver', name="linearSolver", template="CompressedRowSparseMatrixMat3x3d")
deformable_cube2.addObject('RegularGridTopology', name="grid", nx="4", ny="4", nz="4", xmin="5", xmax="7", ymin="-1", ymax="1", zmin="-1", zmax="1")
deformable_cube2.addObject('MechanicalObject', name="mstate", template="Vec3")
deformable_cube2.addObject('HexahedronFEMForceField', poissonRatio="0.49", youngModulus="700000")
deformable_cube2.addObject('UniformMass', totalMass="10")
deformable_cube2.addObject('BoxROI', name="bottom", box="4.9 -1.1 -1.1 7.1 1.1 -0.9")
deformable_cube2.addObject('BoxROI', name="top", box="4.9 -1.1 0.9 7.1 1.1 1.1")
deformable_cube2.addObject('LinearSolverConstraintCorrection', linearSolver="@linearSolver", regularizationTerm="0.005")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube2/mstate", first_point="@DeformableCube2/bottom.indices", object2="@TargetCube2/mstate", second_point="@TargetCube2/bottom.indices")
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@DeformableCube2/mstate", first_point="@DeformableCube2/top.indices", object2="@TargetCube2/mstate", second_point="@TargetCube2/top.indices")
BilateralLagrangianConstraint_UGS.scn
<?xml version="1.0"?>
<!-- BilateralLagrangianConstraint example -->
<Node name="root" dt="0.001" gravity="0 -981 0">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showForceFields" />
<DefaultVisualManagerLoop />
<FreeMotionAnimationLoop />
<GenericConstraintSolver tolerance="0.001" maxIterations="1000" resolutionMethod="UnbuiltGaussSeidel" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0" />
<CollisionResponse name="Response" response="FrictionContactConstraint" />
<Node name="CUBE_0">
<MechanicalObject dy="2.5" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="1 0 0 1" dy="2.5" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" template="Vec3" dy="2.5" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1" />
</Node>
</Node>
<Node name="CUBE_1">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_2" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="1 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" triangulate="1" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1 1.25 1	-1.25 -1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_0/Constraints/points" object2="@CUBE_1/Constraints/points" first_point="0" second_point="0" />
<Node name="CUBE_2">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="0 1 0 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="-1.25 1.25 1.25	1.25 -1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_1/Constraints/points" object2="@CUBE_2/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_3">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-5.0" dz="0.0" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="0 1 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 1.25 -1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_3/Constraints/points" first_point="1" second_point="0" />
<Node name="CUBE_4">
<EulerImplicitSolver printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/>
<CGLinearSolver iterations="25" tolerance="1.0e-9" threshold="1.0e-9" />
<MechanicalObject template="Rigid3" scale="1.0" dx="0.0" dy="-2.5" dz="-2.5" />
<UniformMass totalMass="0.1" />
<UncoupledConstraintCorrection />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/cube.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="0 0 1 1.0" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="ColliCube">
<MeshOBJLoader name="loader" filename="mesh/cube.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" scale="1.0" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
<Node name="Constraints">
<MechanicalObject name="points" template="Vec3" position="1.25 -1.25 1.25	1.25 1.25 1.25" />
<RigidMapping />
</Node>
</Node>
<BilateralLagrangianConstraint template="Vec3" object1="@CUBE_2/Constraints/points" object2="@CUBE_4/Constraints/points" first_point="1" second_point="0" />
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.001", gravity="0 -981 0")
root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showForceFields")
root.addObject('DefaultVisualManagerLoop', )
root.addObject('FreeMotionAnimationLoop', )
root.addObject('GenericConstraintSolver', tolerance="0.001", maxIterations="1000", resolutionMethod="UnbuiltGaussSeidel")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.2", contactDistance="0.09", angleCone="0.0")
root.addObject('CollisionResponse', name="Response", response="FrictionContactConstraint")
cube_0 = root.addChild('CUBE_0')
cube_0.addObject('MechanicalObject', dy="2.5")
visu = CUBE_0.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="1 0 0 1", dy="2.5")
colli_cube = CUBE_0.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", template="Vec3", dy="2.5")
colli_cube.addObject('TriangleCollisionModel', simulated="0", moving="0")
colli_cube.addObject('LineCollisionModel', simulated="0", moving="0")
colli_cube.addObject('PointCollisionModel', simulated="0", moving="0")
constraints = CUBE_0.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1")
cube_1 = root.addChild('CUBE_1')
cube_1.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_1.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_1.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="0", dz="0.0")
cube_1.addObject('UniformMass', totalMass="0.1")
cube_1.addObject('UncoupledConstraintCorrection', )
visu = CUBE_1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="1 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_1.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj", triangulate="1")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_1.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1 1.25 1 -1.25 -1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_0/Constraints/points", object2="@CUBE_1/Constraints/points", first_point="0", second_point="0")
cube_2 = root.addChild('CUBE_2')
cube_2.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_2.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_2.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="0.0")
cube_2.addObject('UniformMass', totalMass="0.1")
cube_2.addObject('UncoupledConstraintCorrection', )
visu = CUBE_2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="0 1 0 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_2.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_2.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="-1.25 1.25 1.25 1.25 -1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_1/Constraints/points", object2="@CUBE_2/Constraints/points", first_point="1", second_point="0")
cube_3 = root.addChild('CUBE_3')
cube_3.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_3.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_3.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-5.0", dz="0.0")
cube_3.addObject('UniformMass', totalMass="0.1")
cube_3.addObject('UncoupledConstraintCorrection', )
visu = CUBE_3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="0 1 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_3.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_3.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 1.25 -1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_3/Constraints/points", first_point="1", second_point="0")
cube_4 = root.addChild('CUBE_4')
cube_4.addObject('EulerImplicitSolver', printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
cube_4.addObject('CGLinearSolver', iterations="25", tolerance="1.0e-9", threshold="1.0e-9")
cube_4.addObject('MechanicalObject', template="Rigid3", scale="1.0", dx="0.0", dy="-2.5", dz="-2.5")
cube_4.addObject('UniformMass', totalMass="0.1")
cube_4.addObject('UncoupledConstraintCorrection', )
visu = CUBE_4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/cube.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="0 0 1 1.0")
visu.addObject('RigidMapping', input="@..", output="@Visual")
colli_cube = CUBE_4.addChild('ColliCube')
colli_cube.addObject('MeshOBJLoader', name="loader", filename="mesh/cube.obj")
colli_cube.addObject('MeshTopology', src="@loader")
colli_cube.addObject('MechanicalObject', src="@loader", scale="1.0")
colli_cube.addObject('TriangleCollisionModel', )
colli_cube.addObject('LineCollisionModel', )
colli_cube.addObject('PointCollisionModel', )
colli_cube.addObject('RigidMapping', )
constraints = CUBE_4.addChild('Constraints')
constraints.addObject('MechanicalObject', name="points", template="Vec3", position="1.25 -1.25 1.25 1.25 1.25 1.25")
constraints.addObject('RigidMapping', )
root.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@CUBE_2/Constraints/points", object2="@CUBE_4/Constraints/points", first_point="1", second_point="0")