BarycentricMapping
Mapping using barycentric coordinates of the child with respect to cells of its parent. Mapping using barycentric coordinates of the child with respect to cells of its parent.
Vec3d,Rigid3d
Templates:
- Vec3d,Rigid3d
Target: Sofa.Component.Mapping.Linear
namespace: sofa::component::mapping::linear
parents:
- CRTPLinearMapping
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
| useRestPosition | Use the rest position of the input and output models to initialize the mapping | 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 |
| input | Input object to map | State<Vec3d> |
| output | Output object to map | State<Rigid3d> |
| mapper | Internal mapper created depending on the type of topology | TopologyBarycentricMapper<Vec3d,Rigid3d> |
| input_topology | Input topology container (usually the surrounding domain). | BaseMeshTopology |
| output_topology | Output topology container (usually the immersed domain). | BaseMeshTopology |
Vec3d,Vec3d
Templates:
- Vec3d,Vec3d
Target: Sofa.Component.Mapping.Linear
namespace: sofa::component::mapping::linear
parents:
- CRTPLinearMapping
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| mapForces | Are forces mapped ? | 1 |
| mapConstraints | Are constraints mapped ? | 1 |
| mapMasses | Are masses mapped ? | 1 |
| mapMatrices | Are matrix explicit mapped? | 0 |
| applyRestPosition | set to true to apply this mapping to restPosition at init | 0 |
| useRestPosition | Use the rest position of the input and output models to initialize the mapping | 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 |
| input | Input object to map | State<Vec3d> |
| output | Output object to map | State<Vec3d> |
| mapper | Internal mapper created depending on the type of topology | TopologyBarycentricMapper<Vec3d,Vec3d> |
| input_topology | Input topology container (usually the surrounding domain). | BaseMeshTopology |
| output_topology | Output topology container (usually the immersed domain). | BaseMeshTopology |
Examples
BarycentricMapping.scn
<?xml version="1.0" ?>
<Node name="root" dt="0.02">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
<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 [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField RegularGridSpringForceField] -->
<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.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<DefaultAnimationLoop/>
<VisualStyle displayFlags="showBehaviorModels showMappings" />
<CollisionPipeline depth="6" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<CollisionResponse name="Response" response="PenalityContactForceField" />
<Node name="Chain">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_19" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_19" color="gray" />
</Node>
<Node name="TorusFEM">
<EulerImplicitSolver rayleighStiffness="0.01" rayleighMass="0.1" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<UniformMass vertexMass="0.1" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_3" color="red" dx="2.5" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_8" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_8" dx="5" color="green" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFFD">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject dx="7.5" />
<UniformMass totalMass="5" />
<RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_13" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_13" color="yellow" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusRigid">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="10" />
<UniformMass filename="BehaviorModels/torus2.rigid" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_17" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_17" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
</Node>
<Node name="ChainFEM">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dz="6" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_21" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_21" color="gray" dz="6" />
</Node>
<Node name="TorusFEM1">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" dz="6" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_23" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_23" color="red" dx="2.5" dz="6" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" dz="6" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM2">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" dz="6" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="red" dx="5" dz="6" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" dz="6" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM3">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" dz="6" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_6" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_6" color="red" dx="7.5" dz="6" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" dz="6" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFEM4">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="10" dz="6" />
<UniformMass totalMass="5" />
<TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_10" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_10" color="red" dx="10" dz="6" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="10" dz="6" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
<Node name="ChainSpring">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dz="12" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_14" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_14" dz="12" color="gray" />
</Node>
<Node name="TorusSpring1">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" dz="12" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_18" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_18" dx="2.5" dz="12" color="green" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="2.5" dz="12" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring2">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" dz="12" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_22" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_22" dx="5" dz="12" color="green" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="5" dz="12" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring3">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" dz="12" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" dx="7.5" dz="12" color="green" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="7.5" dz="12" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusSpring4">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="10" dz="12" />
<UniformMass totalMass="5" />
<MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_5" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_5" dx="10" dz="12" color="green" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dx="10" dz="12" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
<Node name="ChainFFD">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dz="18" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_9" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_9" dz="18" color="gray" />
</Node>
<Node name="TorusFFD1">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject dx="2.5" dz="18" />
<UniformMass totalMass="5" />
<RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_11" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_11" color="yellow" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFFD2">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject dx="5" dz="18" />
<UniformMass totalMass="5" />
<RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_15" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_15" color="yellow" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFFD3">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject dx="7.5" dz="18" />
<UniformMass totalMass="5" />
<RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_20" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_20" color="yellow" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
<Node name="TorusFFD4">
<EulerImplicitSolver rayleighStiffness="0.01" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject dx="10" dz="18" />
<UniformMass totalMass="5" />
<RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
<RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_24" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_24" color="yellow" />
<BarycentricMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<BarycentricMapping />
</Node>
</Node>
</Node>
<Node name="ChainRigid">
<Node name="TorusFixed">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" dz="24" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" dz="24" color="gray" />
</Node>
<Node name="TorusRigid1">
<EulerImplicitSolver rayleighStiffness="0" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="2.5" dz="24" />
<UniformMass filename="BehaviorModels/torus.rigid" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid2">
<EulerImplicitSolver rayleighStiffness="0" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="5" dz="24" />
<UniformMass filename="BehaviorModels/torus2.rigid" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_7" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_7" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid3">
<EulerImplicitSolver rayleighStiffness="0" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="7.5" dz="24" />
<UniformMass filename="BehaviorModels/torus.rigid" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_12" filename="mesh/torus.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_12" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="TorusRigid4">
<EulerImplicitSolver rayleighStiffness="0" />
<CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
<MechanicalObject template="Rigid3" dx="10" dz="24" />
<UniformMass filename="BehaviorModels/torus2.rigid" />
<Node name="Visu">
<MeshOBJLoader name="meshLoader_16" filename="mesh/torus2.obj" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_16" color="gray" />
<RigidMapping input="@.." output="@Visual" />
</Node>
<Node name="Surf2">
<MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
<MeshTopology src="@loader" />
<MechanicalObject src="@loader" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.02")
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.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
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.SolidMechanics.Spring")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('DefaultAnimationLoop', )
root.addObject('VisualStyle', displayFlags="showBehaviorModels showMappings")
root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
chain = root.addChild('Chain')
torus_fixed = Chain.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_19", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_19", color="gray")
torus_fem = Chain.addChild('TorusFEM')
torus_fem.addObject('EulerImplicitSolver', rayleighStiffness="0.01", rayleighMass="0.1")
torus_fem.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_fem.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem.addObject('MeshTopology', src="@loader")
torus_fem.addObject('MechanicalObject', src="@loader", dx="2.5")
torus_fem.addObject('UniformMass', vertexMass="0.1")
torus_fem.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")
visu = TorusFEM.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="red", dx="2.5")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_spring = Chain.addChild('TorusSpring')
torus_spring.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_spring.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_spring.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_spring.addObject('MeshTopology', src="@loader")
torus_spring.addObject('MechanicalObject', src="@loader", dx="5")
torus_spring.addObject('UniformMass', totalMass="5")
torus_spring.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")
visu = TorusSpring.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_8", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_8", dx="5", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="5")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_ffd = Chain.addChild('TorusFFD')
torus_ffd.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_ffd.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_ffd.addObject('MechanicalObject', dx="7.5")
torus_ffd.addObject('UniformMass', totalMass="5")
torus_ffd.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
torus_ffd.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")
visu = TorusFFD.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_13", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_13", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFFD.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_rigid = Chain.addChild('TorusRigid')
torus_rigid.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_rigid.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_rigid.addObject('MechanicalObject', template="Rigid3", dx="10")
torus_rigid.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")
visu = TorusRigid.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_17", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_17", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('RigidMapping', )
chain_fem = root.addChild('ChainFEM')
torus_fixed = ChainFEM.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader", dz="6")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_21", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_21", color="gray", dz="6")
torus_fem1 = ChainFEM.addChild('TorusFEM1')
torus_fem1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_fem1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_fem1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem1.addObject('MeshTopology', src="@loader")
torus_fem1.addObject('MechanicalObject', src="@loader", dx="2.5", dz="6")
torus_fem1.addObject('UniformMass', totalMass="5")
torus_fem1.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")
visu = TorusFEM1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_23", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_23", color="red", dx="2.5", dz="6")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5", dz="6")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem2 = ChainFEM.addChild('TorusFEM2')
torus_fem2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_fem2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_fem2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_fem2.addObject('MeshTopology', src="@loader")
torus_fem2.addObject('MechanicalObject', src="@loader", dx="5", dz="6")
torus_fem2.addObject('UniformMass', totalMass="5")
torus_fem2.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")
visu = TorusFEM2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red", dx="5", dz="6")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="5", dz="6")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem3 = ChainFEM.addChild('TorusFEM3')
torus_fem3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_fem3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_fem3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_fem3.addObject('MeshTopology', src="@loader")
torus_fem3.addObject('MechanicalObject', src="@loader", dx="7.5", dz="6")
torus_fem3.addObject('UniformMass', totalMass="5")
torus_fem3.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")
visu = TorusFEM3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_6", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_6", color="red", dx="7.5", dz="6")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="7.5", dz="6")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_fem4 = ChainFEM.addChild('TorusFEM4')
torus_fem4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_fem4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_fem4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_fem4.addObject('MeshTopology', src="@loader")
torus_fem4.addObject('MechanicalObject', src="@loader", dx="10", dz="6")
torus_fem4.addObject('UniformMass', totalMass="5")
torus_fem4.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")
visu = TorusFEM4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_10", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_10", color="red", dx="10", dz="6")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFEM4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="10", dz="6")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
chain_spring = root.addChild('ChainSpring')
torus_fixed = ChainSpring.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader", dz="12")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_14", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_14", dz="12", color="gray")
torus_spring1 = ChainSpring.addChild('TorusSpring1')
torus_spring1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_spring1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_spring1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_spring1.addObject('MeshTopology', src="@loader")
torus_spring1.addObject('MechanicalObject', src="@loader", dx="2.5", dz="12")
torus_spring1.addObject('UniformMass', totalMass="5")
torus_spring1.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")
visu = TorusSpring1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_18", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_18", dx="2.5", dz="12", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="2.5", dz="12")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_spring2 = ChainSpring.addChild('TorusSpring2')
torus_spring2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_spring2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_spring2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_spring2.addObject('MeshTopology', src="@loader")
torus_spring2.addObject('MechanicalObject', src="@loader", dx="5", dz="12")
torus_spring2.addObject('UniformMass', totalMass="5")
torus_spring2.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")
visu = TorusSpring2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_22", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_22", dx="5", dz="12", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="5", dz="12")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_spring3 = ChainSpring.addChild('TorusSpring3')
torus_spring3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_spring3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_spring3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
torus_spring3.addObject('MeshTopology', src="@loader")
torus_spring3.addObject('MechanicalObject', src="@loader", dx="7.5", dz="12")
torus_spring3.addObject('UniformMass', totalMass="5")
torus_spring3.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")
visu = TorusSpring3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_0", dx="7.5", dz="12", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="7.5", dz="12")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_spring4 = ChainSpring.addChild('TorusSpring4')
torus_spring4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_spring4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_spring4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
torus_spring4.addObject('MeshTopology', src="@loader")
torus_spring4.addObject('MechanicalObject', src="@loader", dx="10", dz="12")
torus_spring4.addObject('UniformMass', totalMass="5")
torus_spring4.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")
visu = TorusSpring4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_5", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_5", dx="10", dz="12", color="green")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusSpring4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader", dx="10", dz="12")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
chain_ffd = root.addChild('ChainFFD')
torus_fixed = ChainFFD.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader", dz="18")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_9", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_9", dz="18", color="gray")
torus_ffd1 = ChainFFD.addChild('TorusFFD1')
torus_ffd1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_ffd1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_ffd1.addObject('MechanicalObject', dx="2.5", dz="18")
torus_ffd1.addObject('UniformMass', totalMass="5")
torus_ffd1.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
torus_ffd1.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")
visu = TorusFFD1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_11", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_11", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFFD1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_ffd2 = ChainFFD.addChild('TorusFFD2')
torus_ffd2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_ffd2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_ffd2.addObject('MechanicalObject', dx="5", dz="18")
torus_ffd2.addObject('UniformMass', totalMass="5")
torus_ffd2.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
torus_ffd2.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")
visu = TorusFFD2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_15", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_15", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFFD2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_ffd3 = ChainFFD.addChild('TorusFFD3')
torus_ffd3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_ffd3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_ffd3.addObject('MechanicalObject', dx="7.5", dz="18")
torus_ffd3.addObject('UniformMass', totalMass="5")
torus_ffd3.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
torus_ffd3.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")
visu = TorusFFD3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_20", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_20", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFFD3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
torus_ffd4 = ChainFFD.addChild('TorusFFD4')
torus_ffd4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
torus_ffd4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_ffd4.addObject('MechanicalObject', dx="10", dz="18")
torus_ffd4.addObject('UniformMass', totalMass="5")
torus_ffd4.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
torus_ffd4.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")
visu = TorusFFD4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_24", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_24", color="yellow")
visu.addObject('BarycentricMapping', input="@..", output="@Visual")
surf2 = TorusFFD4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('BarycentricMapping', )
chain_rigid = root.addChild('ChainRigid')
torus_fixed = ChainRigid.addChild('TorusFixed')
torus_fixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
torus_fixed.addObject('MeshTopology', src="@loader")
torus_fixed.addObject('MechanicalObject', src="@loader", dz="24")
torus_fixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('LineCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('PointCollisionModel', simulated="0", moving="0")
torus_fixed.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", handleSeams="1")
torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_2", dz="24", color="gray")
torus_rigid1 = ChainRigid.addChild('TorusRigid1')
torus_rigid1.addObject('EulerImplicitSolver', rayleighStiffness="0")
torus_rigid1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_rigid1.addObject('MechanicalObject', template="Rigid3", dx="2.5", dz="24")
torus_rigid1.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
visu = TorusRigid1.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid1.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid2 = ChainRigid.addChild('TorusRigid2')
torus_rigid2.addObject('EulerImplicitSolver', rayleighStiffness="0")
torus_rigid2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_rigid2.addObject('MechanicalObject', template="Rigid3", dx="5", dz="24")
torus_rigid2.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")
visu = TorusRigid2.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_7", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_7", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid2.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid3 = ChainRigid.addChild('TorusRigid3')
torus_rigid3.addObject('EulerImplicitSolver', rayleighStiffness="0")
torus_rigid3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_rigid3.addObject('MechanicalObject', template="Rigid3", dx="7.5", dz="24")
torus_rigid3.addObject('UniformMass', filename="BehaviorModels/torus.rigid")
visu = TorusRigid3.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_12", filename="mesh/torus.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_12", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid3.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('RigidMapping', )
torus_rigid4 = ChainRigid.addChild('TorusRigid4')
torus_rigid4.addObject('EulerImplicitSolver', rayleighStiffness="0")
torus_rigid4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
torus_rigid4.addObject('MechanicalObject', template="Rigid3", dx="10", dz="24")
torus_rigid4.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")
visu = TorusRigid4.addChild('Visu')
visu.addObject('MeshOBJLoader', name="meshLoader_16", filename="mesh/torus2.obj", handleSeams="1")
visu.addObject('OglModel', name="Visual", src="@meshLoader_16", color="gray")
visu.addObject('RigidMapping', input="@..", output="@Visual")
surf2 = TorusRigid4.addChild('Surf2')
surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
surf2.addObject('MeshTopology', src="@loader")
surf2.addObject('MechanicalObject', src="@loader")
surf2.addObject('TriangleCollisionModel', )
surf2.addObject('LineCollisionModel', )
surf2.addObject('PointCollisionModel', )
surf2.addObject('RigidMapping', )
BarycentricMappingTrussBeam.scn
<Node name="root" dt="0.01" showBoundingTree="0" gravity="0 0 0">
<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 [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping IdentityMapping TubularMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField TetrahedronFEMForceField] -->
<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.Topology.Container.Dynamic"/> <!-- Needed to use components [QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags="showVisual showBehaviorModels showCollisionModels" />
<CollisionPipeline verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.5" contactDistance="0.05" />
<CollisionResponse response="PenalityContactForceField" />
<DefaultAnimationLoop/>
<!-- A deformable square mesh -->
<Node name="Truss" activated="true" gravity="0 0 0">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver iterations="125" tolerance="1e-16" threshold="1e-16" />
<MeshGmshLoader name="meshLoader0" filename="mesh/truss_tetra.msh" />
<TetrahedronSetTopologyContainer name="Container" src="@meshLoader0" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
<MechanicalObject template="Vec3" name="TrussMO" />
<UniformMass totalMass="0.05" />
<BoxConstraint box="-0.001 -0.001 -0.001 0.001 0.011 0.011" />
<TetrahedronFEMForceField name="FEM" youngModulus="300000" poissonRatio="0.45" method="large" />
<BoxROI box="0.099 -0.001 -0.001 0.11 0.011 0.011"/>
<ConstantForceField forces="0 -0.1 0" />
<Node name="Triangle">
<include href="Objects/TriangleSetTopology.xml" />
<Tetra2TriangleTopologicalMapping input="@/Truss/Container" output="@Container" />
<TriangleCollisionModel />
<Node name="TriangleVisual">
<OglModel template="Vec3" name="Visual" material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
<IdentityMapping template="Vec3,Vec3" name="default12" input="@.." output="@Visual" />
</Node>
</Node>
<Node name="Beam">
<MechanicalObject template="Rigid3" name="BeamMO" position="0 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.04 0 0 0 0 0 1 0.06 0 0 0 0 0 1 0.08 0 0 0 0 0 1 0.1 0 0 0 0 0 1" />
<MeshTopology name="BeamMesh" lines="0 1 1 2 2 3 3 4 4 5" />
<FixedProjectiveConstraint name="BeamFixedProjectiveConstraint" indices="0" />
<UniformMass vertexMass="0.001 0.001 [0.0001 0 0 0 0.0001 0 0 0 0.0001]" />
<BeamFEMForceField name="BeamFEM" radius="0.005" youngModulus="3000000000" poissonRatio="0.45" />
<ConstantForceField indices="5" forces="0 0 0 -10 0 0" />
<BarycentricMapping isMechanical="true" input="@TrussMO" output="@BeamMO" />
<Node name="VisuThread">
<MechanicalObject name="Quads" />
<include href="Objects/QuadSetTopology.xml" />
<Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMesh" output="@Container" />
<TubularMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMO" output="@Quads" />
<Node name="VisuOgl">
<OglModel name="Visual" color="0.5 0.5 1.0" />
<IdentityMapping input="@Quads" output="@Visual" />
</Node>
</Node>
</Node>
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', dt="0.01", showBoundingTree="0", gravity="0 0 0")
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.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
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.Topology.Container.Dynamic")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showCollisionModels")
root.addObject('CollisionPipeline', verbose="0")
root.addObject('BruteForceBroadPhase', )
root.addObject('BVHNarrowPhase', )
root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.5", contactDistance="0.05")
root.addObject('CollisionResponse', response="PenalityContactForceField")
root.addObject('DefaultAnimationLoop', )
truss = root.addChild('Truss', activated="true", gravity="0 0 0")
truss.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
truss.addObject('CGLinearSolver', iterations="125", tolerance="1e-16", threshold="1e-16")
truss.addObject('MeshGmshLoader', name="meshLoader0", filename="mesh/truss_tetra.msh")
truss.addObject('TetrahedronSetTopologyContainer', name="Container", src="@meshLoader0")
truss.addObject('TetrahedronSetTopologyModifier', name="Modifier")
truss.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
truss.addObject('MechanicalObject', template="Vec3", name="TrussMO")
truss.addObject('UniformMass', totalMass="0.05")
truss.addObject('BoxConstraint', box="-0.001 -0.001 -0.001 0.001 0.011 0.011")
truss.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="300000", poissonRatio="0.45", method="large")
truss.addObject('BoxROI', box="0.099 -0.001 -0.001 0.11 0.011 0.011")
truss.addObject('ConstantForceField', forces="0 -0.1 0")
triangle = Truss.addChild('Triangle')
triangle.addObject('include', href="Objects/TriangleSetTopology.xml")
triangle.addObject('Tetra2TriangleTopologicalMapping', input="@/Truss/Container", output="@Container")
triangle.addObject('TriangleCollisionModel', )
triangle_visual = Triangle.addChild('TriangleVisual')
triangle_visual.addObject('OglModel', template="Vec3", name="Visual", material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
triangle_visual.addObject('IdentityMapping', template="Vec3,Vec3", name="default12", input="@..", output="@Visual")
beam = Truss.addChild('Beam')
beam.addObject('MechanicalObject', template="Rigid3", name="BeamMO", position="0 0 0 0 0 0 1 0.02 0 0 0 0 0 1 0.04 0 0 0 0 0 1 0.06 0 0 0 0 0 1 0.08 0 0 0 0 0 1 0.1 0 0 0 0 0 1")
beam.addObject('MeshTopology', name="BeamMesh", lines="0 1 1 2 2 3 3 4 4 5")
beam.addObject('FixedProjectiveConstraint', name="BeamFixedProjectiveConstraint", indices="0")
beam.addObject('UniformMass', vertexMass="0.001 0.001 [0.0001 0 0 0 0.0001 0 0 0 0.0001]")
beam.addObject('BeamFEMForceField', name="BeamFEM", radius="0.005", youngModulus="3000000000", poissonRatio="0.45")
beam.addObject('ConstantForceField', indices="5", forces="0 0 0 -10 0 0")
beam.addObject('BarycentricMapping', isMechanical="true", input="@TrussMO", output="@BeamMO")
visu_thread = Beam.addChild('VisuThread')
visu_thread.addObject('MechanicalObject', name="Quads")
visu_thread.addObject('include', href="Objects/QuadSetTopology.xml")
visu_thread.addObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle="10", radius="0.005", input="@BeamMesh", output="@Container")
visu_thread.addObject('TubularMapping', nbPointsOnEachCircle="10", radius="0.005", input="@BeamMO", output="@Quads")
visu_ogl = VisuThread.addChild('VisuOgl')
visu_ogl.addObject('OglModel', name="Visual", color="0.5 0.5 1.0")
visu_ogl.addObject('IdentityMapping', input="@Quads", output="@Visual")