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RigidMapping

Set the positions and velocities of points attached to a rigid parent

Rigid2d,Vec2d

Templates:

  • Rigid2d,Vec2d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

  • Mapping

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
geometricStiffness Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed -Stabilized: the exact geometric stiffness is approximated in order to improve stability Stabilized
initialPoints Local Coordinates of the points
index input DOF index 0
filename Xsp file where rigid mapping information can be loaded from.
useX0 Use x0 instead of local copy of initial positions (to support topo changes) 0
indexFromEnd input DOF index starts from the end of input DOFs vector 0
rigidIndexPerPoint For each mapped point, the index of the Rigid it is mapped from
globalToLocalCoords are the output DOFs initially expressed in global coordinates
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<Rigid2d>
output Output object to map State<Vec2d>

Rigid3d,Rigid3d

Templates:

  • Rigid3d,Rigid3d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

  • Mapping

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
geometricStiffness Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed -Stabilized: the exact geometric stiffness is approximated in order to improve stability Stabilized
initialPoints Local Coordinates of the points
index input DOF index 0
filename Xsp file where rigid mapping information can be loaded from.
useX0 Use x0 instead of local copy of initial positions (to support topo changes) 0
indexFromEnd input DOF index starts from the end of input DOFs vector 0
rigidIndexPerPoint For each mapped point, the index of the Rigid it is mapped from
globalToLocalCoords are the output DOFs initially expressed in global coordinates
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<Rigid3d>
output Output object to map State<Rigid3d>

Rigid3d,Vec3d

Templates:

  • Rigid3d,Vec3d

Target: Sofa.Component.Mapping.NonLinear

namespace: sofa::component::mapping::nonlinear

parents:

  • Mapping

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
geometricStiffness Method used to compute the geometric stiffness: -None: geometric stiffness is not computed -Exact: the exact geometric stiffness is computed -Stabilized: the exact geometric stiffness is approximated in order to improve stability Stabilized
initialPoints Local Coordinates of the points
index input DOF index 0
filename Xsp file where rigid mapping information can be loaded from.
useX0 Use x0 instead of local copy of initial positions (to support topo changes) 0
indexFromEnd input DOF index starts from the end of input DOFs vector 0
rigidIndexPerPoint For each mapped point, the index of the Rigid it is mapped from
globalToLocalCoords are the output DOFs initially expressed in global coordinates
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<Rigid3d>
output Output object to map State<Vec3d>

Examples

RigidMapping-basic.scn

<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" time="0" animate="0" bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [PartialFixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showBehaviorModels showMapping" />
    <DefaultAnimationLoop/>

    <Node name="parent node with independent DOFs">
        <StaticSolver name="ODE solver" printLog="0" />
        <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid3" />
        <PartialFixedProjectiveConstraint fixedDirections="1 1 1 0 0 0" />
        <UniformMass template="Rigid3" name="mass" totalMass="1.0"/>
        <Node name="child node with DOFs mapped from the parent">
            <MechanicalObject template="Vec3" name="endpoint coordinates" position="1 -0.0 0"  />
            <RigidMapping name="angle-coord mapping" input="@.." output="@." index="0" />
            <ConstantForceField forces="1 -1 0" indices="0" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('Root', gravity="0 0 0", time="0", animate="0", bbox="-1 -1 -1 1 1 1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showMapping")
   root.addObject('DefaultAnimationLoop', )

   parent_node_with_independent__do_fs = Root.addChild('parent node with independent DOFs')

   parent_node_with_independent__do_fs.addObject('StaticSolver', name="ODE solver", printLog="0")
   parent_node_with_independent__do_fs.addObject('CGLinearSolver', template="GraphScattered", name="linear solver used by implicit ODE solvers", printLog="0", iterations="25", tolerance="1e-5", threshold="1e-5")
   parent_node_with_independent__do_fs.addObject('MechanicalObject', template="Rigid3")
   parent_node_with_independent__do_fs.addObject('PartialFixedProjectiveConstraint', fixedDirections="1 1 1 0 0 0")
   parent_node_with_independent__do_fs.addObject('UniformMass', template="Rigid3", name="mass", totalMass="1.0")

   child_node_with__do_fs_mapped_from_the_parent = parent node with independent DOFs.addChild('child node with DOFs mapped from the parent')

   child_node_with__do_fs_mapped_from_the_parent.addObject('MechanicalObject', template="Vec3", name="endpoint coordinates", position="1 -0.0 0")
   child_node_with__do_fs_mapped_from_the_parent.addObject('RigidMapping', name="angle-coord mapping", input="@..", output="@.", index="0")
   child_node_with__do_fs_mapped_from_the_parent.addObject('ConstantForceField', forces="1 -1 0", indices="0")

RigidMapping2d-basic.scn

<?xml version="1.0" ?>
<Node name="Root" gravity="0 0 0" time="0" animate="0" bbox="-1 -1 -1 1 1 1">
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [PartialFixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [StaticSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags="showBehaviorModels showMapping" />
    <DefaultAnimationLoop/>

    <Node name="parent node with independent DOFs">
        <!--        <EulerImplicitSolver name="ODE solver" printLog="0"  verbose="0" rayleighStiffness="0.0" rayleighMass="0"/> -->
        <StaticSolver name="ODE solver" printLog="0" />
        <CGLinearSolver template="GraphScattered" name="linear solver used by implicit ODE solvers" printLog="0" iterations="25" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid2" />
        <PartialFixedProjectiveConstraint fixedDirections="1 1 0" />
        <UniformMass template="Rigid2" name="mass" totalMass="1.0"/>
        <Node name="child node with DOFs mapped from the parent">
            <MechanicalObject template="Vec2" name="endpoint coordinates" position="1 0 "  />
            <RigidMapping template="" name="angle-coord mapping" input="@.." output="@." index="0" />
            <ConstantForceField forces="1 -1" indices="0" />
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('Root', gravity="0 0 0", time="0", animate="0", bbox="-1 -1 -1 1 1 1")

   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags="showBehaviorModels showMapping")
   root.addObject('DefaultAnimationLoop', )

   parent_node_with_independent__do_fs = Root.addChild('parent node with independent DOFs')

   parent_node_with_independent__do_fs.addObject('StaticSolver', name="ODE solver", printLog="0")
   parent_node_with_independent__do_fs.addObject('CGLinearSolver', template="GraphScattered", name="linear solver used by implicit ODE solvers", printLog="0", iterations="25", tolerance="1e-5", threshold="1e-5")
   parent_node_with_independent__do_fs.addObject('MechanicalObject', template="Rigid2")
   parent_node_with_independent__do_fs.addObject('PartialFixedProjectiveConstraint', fixedDirections="1 1 0")
   parent_node_with_independent__do_fs.addObject('UniformMass', template="Rigid2", name="mass", totalMass="1.0")

   child_node_with__do_fs_mapped_from_the_parent = parent node with independent DOFs.addChild('child node with DOFs mapped from the parent')

   child_node_with__do_fs_mapped_from_the_parent.addObject('MechanicalObject', template="Vec2", name="endpoint coordinates", position="1 0 ")
   child_node_with__do_fs_mapped_from_the_parent.addObject('RigidMapping', template="", name="angle-coord mapping", input="@..", output="@.", index="0")
   child_node_with__do_fs_mapped_from_the_parent.addObject('ConstantForceField', forces="1 -1", indices="0")

RigidMapping.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 [NewProximityIntersection] -->
    <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.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <NewProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <DefaultAnimationLoop/>
    <Node name="ChainRigid">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel contactStiffness="1000" simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_3" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="gray" texturename="textures/brushed_metal.bmp" />
        </Node>
        <Node name="TorusRigid1">
            <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="2.5" />
            <UniformMass filename="BehaviorModels/torus.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_2" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_2" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid2">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="5" />
            <UniformMass totalMass="1.0"/>
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_4" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_4" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid3">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="7.5" />
            <UniformMass totalMass="1.0"/>
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_0" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid4">
            <EulerImplicitSolver />
            <CGLinearSolver iterations="25" threshold="0.000000000001" tolerance="0.000001" />
            <MechanicalObject template="Rigid3" dx="10" />
            <UniformMass totalMass="1.0"/>
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" color="gray" texturename="textures/brushed_metal.bmp" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <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.NonLinear")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
   root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
   root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('NewProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
   root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")
   root.addObject('DefaultAnimationLoop', )

   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")
   torus_fixed.addObject('TriangleCollisionModel', contactStiffness="1000", simulated="0", moving="0")
   torus_fixed.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus2.obj", handleSeams="1")
   torus_fixed.addObject('OglModel', name="Visual", src="@meshLoader_3", color="gray", texturename="textures/brushed_metal.bmp")

   torus_rigid1 = ChainRigid.addChild('TorusRigid1')

   torus_rigid1.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
   torus_rigid1.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
   torus_rigid1.addObject('MechanicalObject', template="Rigid3", dx="2.5")
   torus_rigid1.addObject('UniformMass', filename="BehaviorModels/torus.rigid")

   visu = TorusRigid1.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="gray", texturename="textures/brushed_metal.bmp")
   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('RigidMapping', )

   torus_rigid2 = ChainRigid.addChild('TorusRigid2')

   torus_rigid2.addObject('EulerImplicitSolver', )
   torus_rigid2.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
   torus_rigid2.addObject('MechanicalObject', template="Rigid3", dx="5")
   torus_rigid2.addObject('UniformMass', totalMass="1.0")

   visu = TorusRigid2.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus2.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="gray", texturename="textures/brushed_metal.bmp")
   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('RigidMapping', )

   torus_rigid3 = ChainRigid.addChild('TorusRigid3')

   torus_rigid3.addObject('EulerImplicitSolver', )
   torus_rigid3.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
   torus_rigid3.addObject('MechanicalObject', template="Rigid3", dx="7.5")
   torus_rigid3.addObject('UniformMass', totalMass="1.0")

   visu = TorusRigid3.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="gray", texturename="textures/brushed_metal.bmp")
   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('RigidMapping', )

   torus_rigid4 = ChainRigid.addChild('TorusRigid4')

   torus_rigid4.addObject('EulerImplicitSolver', )
   torus_rigid4.addObject('CGLinearSolver', iterations="25", threshold="0.000000000001", tolerance="0.000001")
   torus_rigid4.addObject('MechanicalObject', template="Rigid3", dx="10")
   torus_rigid4.addObject('UniformMass', totalMass="1.0")

   visu = TorusRigid4.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="gray", texturename="textures/brushed_metal.bmp")
   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('RigidMapping', )