BarycentricMapping
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 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 |
| 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 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 |
| 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
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")
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', )