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 objet 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) | |
| numericalTolerance | a real value specifying the tolerance during the constraint solving. (optional, default=0.0001) | 0.0001 |
| activate | control constraint activation (true by default) | 1 |
| keepOrientationDifference | keep the initial difference in orientation (only for rigids) | 0 |
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 objet 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) | |
| numericalTolerance | a real value specifying the tolerance during the constraint solving. (optional, default=0.0001) | 0.0001 |
| activate | control constraint activation (true by default) | 1 |
| keepOrientationDifference | keep the initial difference in orientation (only for rigids) | 0 |
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_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_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 contactStiffness="10.0" />
<LineCollisionModel contactStiffness="10.0" />
<PointCollisionModel contactStiffness="10.0" />
<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', contactStiffness="10.0")
colli_cube.addObject('LineCollisionModel', contactStiffness="10.0")
colli_cube.addObject('PointCollisionModel', contactStiffness="10.0")
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_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 contactStiffness="10.0" />
<LineCollisionModel contactStiffness="10.0" />
<PointCollisionModel contactStiffness="10.0" />
<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', contactStiffness="10.0")
colli_cube.addObject('LineCollisionModel', contactStiffness="10.0")
colli_cube.addObject('PointCollisionModel', contactStiffness="10.0")
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 contactStiffness="10.0" />
<LineCollisionModel contactStiffness="10.0" />
<PointCollisionModel contactStiffness="10.0" />
<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', contactStiffness="10.0")
colli_cube.addObject('LineCollisionModel', contactStiffness="10.0")
colli_cube.addObject('PointCollisionModel', contactStiffness="10.0")
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")