NearestPointROI

Attach given pair of particles, projecting the positions of the second particles to the first ones.

Rigid2d

Templates:

• Rigid2d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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<Rigid2d>
object2	Second object associated to this component	MechanicalState<Rigid2d>

Rigid3d

Templates:

• Rigid3d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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>

Vec1d

Templates:

• Vec1d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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<Vec1d>
object2	Second object associated to this component	MechanicalState<Vec1d>

Vec2d

Templates:

• Vec2d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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<Vec2d>
object2	Second object associated to this component	MechanicalState<Vec2d>

Vec3d

Templates:

• Vec3d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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>

Vec6d

Templates:

• Vec6d

Target: Sofa.Component.Engine.Select

namespace: sofa::component::engine::select

parents:

• DataEngine
• PairStateAccessor

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
inputIndices1	Indices of the points to consider on the first model
inputIndices2	Indices of the points to consider on the first model
radius	Radius to search corresponding fixed point	1
useRestPosition	If true will use restPosition only at init	1
Outputs
indices1	Indices from the first model associated to a dof from the second model
indices2	Indices from the second model associated to a dof from the first model
edges	List of edge indices
indexPairs	list of couples (parent index + index in the parent)
distances	List of distances between pairs of points
Visualization
drawPairs	Option to draw the positions pairs computed	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<Vec6d>
object2	Second object associated to this component	MechanicalState<Vec6d>

Examples

NearestPointROI.scn

XMLPython

<Node name="root" dt="0.02">
    <Node name="requiredPlugins">
        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
        <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.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI NearestPointROI] -->
        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [SubsetMultiMapping] -->
        <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.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetTopologyContainer] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    </Node>

    <VisualStyle displayFlags="showBehaviorModels showForceFields showInteractionForceFields" />

    <FreeMotionAnimationLoop parallelODESolving="true"/>
    <GenericConstraintSolver tolerance="0.001" maxIterations="1000" resolutionMethod="UnbuildGaussSeidel" multithreading="true"/>

    <!--
        This Node shows how NearestPointROI is used to create constraints to link close vertices
    -->
    <Node name="ObjectsAttachedWithConstraints">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1"/>
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <Node name="M1">
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="9" />
            <BoxROI box="-0.1 -0.1 -0.1 3.1 3.1 0.1" name="box"/>
            <FixedProjectiveConstraint indices="@box.indices"/>
            <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>
        <Node name="M2">
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="9" zmax="18" />
            <TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>
        <Node name="M3">
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="18" zmax="27" />
            <BoxROI box="-0.1 -0.1 26.99 3.1 3.1 27.1" name="box"/>
            <FixedProjectiveConstraint indices="@box.indices"/>
            <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>

        <NearestPointROI template="Vec3" name="np1" object1="@./M1/mo" object2="@./M2/mo" radius="0.1"/>
        <NearestPointROI template="Vec3" name="np2" object1="@./M2/mo" object2="@./M3/mo" radius="0.1"/>

        <BilateralLagrangianConstraint template="Vec3" object1="@M1" object2="@M2" first_point="@np1.indices1" second_point="@np1.indices2" />
        <BilateralLagrangianConstraint template="Vec3" object1="@M2" object2="@M3" first_point="@np2.indices1" second_point="@np2.indices2" />
    </Node>

    <!--
        This Node shows how NearestPointROI is used to create SubsetMultiMapping and EdgeSetTopologyContainer.
    -->
    <Node name="Springs">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1"/>
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <Node name="M1">
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="4" ny="4" nz="10" xmin="4" xmax="7" ymin="0" ymax="3" zmin="0" zmax="9" />
            <BoxROI box="3.9 -0.1 -0.1 7.1 3.1 0.1" name="box"/>
            <FixedProjectiveConstraint indices="@box.indices"/>
            <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>
        <Node name="M2"> <!-- This object has a higher resolution than the others -->
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="8" ny="8" nz="20" xmin="4" xmax="7" ymin="0" ymax="3" zmin="9" zmax="18" />
            <TetrahedronFEMForceField name="FEM" youngModulus="20000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>
        <Node name="M3">
            <MechanicalObject name="mo"/>
            <UniformMass totalMass="160" />
            <RegularGridTopology nx="4" ny="4" nz="10" xmin="4" xmax="7" ymin="0" ymax="3" zmin="18" zmax="27" />
            <BoxROI box="3.9 -0.1 26.99 7.1 3.1 27.1" name="box"/>
            <FixedProjectiveConstraint indices="@box.indices"/>
            <TetrahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" computeVonMisesStress="1" showVonMisesStressPerElement="true"/>
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>

        <!--
            In the following Nodes, dofs from 2 mechanical objects are fused into a new mechanical object, based on the
            minimal distance between points.
            A mapping links the three objects. An edge topology is created.
            Springs are created based on the topology.
        -->
        <Node name="merge1">
            <BoxROI name="box1" position="@../M1/mo.position" box="3.9 -0.1 8.9 7.1 3.1 9.1"/>
            <BoxROI name="box2" position="@../M2/mo.position" box="3.9 -0.1 8.9 7.1 3.1 9.1"/>
            <NearestPointROI template="Vec3" name="np" object1="@../M1/mo" object2="@../M2/mo" radius="1e5" inputIndices1="@box1.indices" inputIndices2="@box2.indices"/>
            <MechanicalObject name="dofs"/>
            <SubsetMultiMapping input="@../M1/mo @../M2/mo" output="@dofs" indexPairs="@np.indexPairs"/>
            <EdgeSetTopologyContainer edges="@np.edges"/>
            <MeshSpringForceField stiffness="10000" damping="1" linesStiffness="10000" linesDamping="1" drawMode="1" drawSpringSize="1"/>
        </Node>

        <Node name="merge2">
            <BoxROI name="box1" position="@../M2/mo.position" box="3.9 -0.1 17.9 7.1 3.1 18.1"/>
            <BoxROI name="box2" position="@../M3/mo.position" box="3.9 -0.1 17.9 7.1 3.1 18.1"/>
            <NearestPointROI template="Vec3" name="np" object1="@../M2/mo" object2="@../M3/mo" radius="1e5" inputIndices1="@box1.indices" inputIndices2="@box2.indices"/>
            <MechanicalObject name="dofs"/>
            <SubsetMultiMapping input="@../M2/mo @../M3/mo" output="@dofs" indexPairs="@np.indexPairs"/>
            <EdgeSetTopologyContainer edges="@np.edges"/>
            <MeshSpringForceField stiffness="10000" damping="1" linesStiffness="10000" linesDamping="1" drawMode="1" drawSpringSize="1"/>
        </Node>

    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.02")

   required_plugins = root.addChild('requiredPlugins')

   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Model")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
   required_plugins.addObject('RequiredPlugin', name="Sofa.Component.Visual")

   root.addObject('VisualStyle', displayFlags="showBehaviorModels showForceFields showInteractionForceFields")
   root.addObject('FreeMotionAnimationLoop', parallelODESolving="true")
   root.addObject('GenericConstraintSolver', tolerance="0.001", maxIterations="1000", resolutionMethod="UnbuildGaussSeidel", multithreading="true")

   objects_attached_with_constraints = root.addChild('ObjectsAttachedWithConstraints')

   objects_attached_with_constraints.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   objects_attached_with_constraints.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")

   m1 = ObjectsAttachedWithConstraints.addChild('M1')

   m1.addObject('MechanicalObject', name="mo")
   m1.addObject('UniformMass', totalMass="160")
   m1.addObject('RegularGridTopology', nx="4", ny="4", nz="10", xmin="0", xmax="3", ymin="0", ymax="3", zmin="0", zmax="9")
   m1.addObject('BoxROI', box="-0.1 -0.1 -0.1 3.1 3.1 0.1", name="box")
   m1.addObject('FixedProjectiveConstraint', indices="@box.indices")
   m1.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m1.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   m2 = ObjectsAttachedWithConstraints.addChild('M2')

   m2.addObject('MechanicalObject', name="mo")
   m2.addObject('UniformMass', totalMass="160")
   m2.addObject('RegularGridTopology', nx="4", ny="4", nz="10", xmin="0", xmax="3", ymin="0", ymax="3", zmin="9", zmax="18")
   m2.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="20000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m2.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   m3 = ObjectsAttachedWithConstraints.addChild('M3')

   m3.addObject('MechanicalObject', name="mo")
   m3.addObject('UniformMass', totalMass="160")
   m3.addObject('RegularGridTopology', nx="4", ny="4", nz="10", xmin="0", xmax="3", ymin="0", ymax="3", zmin="18", zmax="27")
   m3.addObject('BoxROI', box="-0.1 -0.1 26.99 3.1 3.1 27.1", name="box")
   m3.addObject('FixedProjectiveConstraint', indices="@box.indices")
   m3.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m3.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   objects_attached_with_constraints.addObject('NearestPointROI', template="Vec3", name="np1", object1="@./M1/mo", object2="@./M2/mo", radius="0.1")
   objects_attached_with_constraints.addObject('NearestPointROI', template="Vec3", name="np2", object1="@./M2/mo", object2="@./M3/mo", radius="0.1")
   objects_attached_with_constraints.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@M1", object2="@M2", first_point="@np1.indices1", second_point="@np1.indices2")
   objects_attached_with_constraints.addObject('BilateralLagrangianConstraint', template="Vec3", object1="@M2", object2="@M3", first_point="@np2.indices1", second_point="@np2.indices2")

   springs = root.addChild('Springs')

   springs.addObject('EulerImplicitSolver', name="cg_odesolver", rayleighStiffness="0.1", rayleighMass="0.1")
   springs.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")

   m1 = Springs.addChild('M1')

   m1.addObject('MechanicalObject', name="mo")
   m1.addObject('UniformMass', totalMass="160")
   m1.addObject('RegularGridTopology', nx="4", ny="4", nz="10", xmin="4", xmax="7", ymin="0", ymax="3", zmin="0", zmax="9")
   m1.addObject('BoxROI', box="3.9 -0.1 -0.1 7.1 3.1 0.1", name="box")
   m1.addObject('FixedProjectiveConstraint', indices="@box.indices")
   m1.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m1.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   m2 = Springs.addChild('M2')

   m2.addObject('MechanicalObject', name="mo")
   m2.addObject('UniformMass', totalMass="160")
   m2.addObject('RegularGridTopology', nx="8", ny="8", nz="20", xmin="4", xmax="7", ymin="0", ymax="3", zmin="9", zmax="18")
   m2.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="20000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m2.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   m3 = Springs.addChild('M3')

   m3.addObject('MechanicalObject', name="mo")
   m3.addObject('UniformMass', totalMass="160")
   m3.addObject('RegularGridTopology', nx="4", ny="4", nz="10", xmin="4", xmax="7", ymin="0", ymax="3", zmin="18", zmax="27")
   m3.addObject('BoxROI', box="3.9 -0.1 26.99 7.1 3.1 27.1", name="box")
   m3.addObject('FixedProjectiveConstraint', indices="@box.indices")
   m3.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="4000", poissonRatio="0.3", computeVonMisesStress="1", showVonMisesStressPerElement="true")
   m3.addObject('UncoupledConstraintCorrection', useOdeSolverIntegrationFactors="0")

   merge1 = Springs.addChild('merge1')

   merge1.addObject('BoxROI', name="box1", position="@../M1/mo.position", box="3.9 -0.1 8.9 7.1 3.1 9.1")
   merge1.addObject('BoxROI', name="box2", position="@../M2/mo.position", box="3.9 -0.1 8.9 7.1 3.1 9.1")
   merge1.addObject('NearestPointROI', template="Vec3", name="np", object1="@../M1/mo", object2="@../M2/mo", radius="1e5", inputIndices1="@box1.indices", inputIndices2="@box2.indices")
   merge1.addObject('MechanicalObject', name="dofs")
   merge1.addObject('SubsetMultiMapping', input="@../M1/mo @../M2/mo", output="@dofs", indexPairs="@np.indexPairs")
   merge1.addObject('EdgeSetTopologyContainer', edges="@np.edges")
   merge1.addObject('MeshSpringForceField', stiffness="10000", damping="1", linesStiffness="10000", linesDamping="1", drawMode="1", drawSpringSize="1")

   merge2 = Springs.addChild('merge2')

   merge2.addObject('BoxROI', name="box1", position="@../M2/mo.position", box="3.9 -0.1 17.9 7.1 3.1 18.1")
   merge2.addObject('BoxROI', name="box2", position="@../M3/mo.position", box="3.9 -0.1 17.9 7.1 3.1 18.1")
   merge2.addObject('NearestPointROI', template="Vec3", name="np", object1="@../M2/mo", object2="@../M3/mo", radius="1e5", inputIndices1="@box1.indices", inputIndices2="@box2.indices")
   merge2.addObject('MechanicalObject', name="dofs")
   merge2.addObject('SubsetMultiMapping', input="@../M2/mo @../M3/mo", output="@dofs", indexPairs="@np.indexPairs")
   merge2.addObject('EdgeSetTopologyContainer', edges="@np.edges")
   merge2.addObject('MeshSpringForceField', stiffness="10000", damping="1", linesStiffness="10000", linesDamping="1", drawMode="1", drawSpringSize="1")