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RestShapeSpringsForceField

Elastic springs generating forces on degrees of freedom between their current and rest shape position.

Rigid3d

Templates:

  • Rigid3d

Target: Sofa.Component.SolidMechanics.Spring

namespace: sofa::component::solidmechanics::spring

parents:

  • ForceField

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
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
points points controlled by the rest shape springs
stiffness stiffness values between the actual position and the rest shape position
angularStiffness angularStiffness assigned when controlling the rotation of the points
pivot_points global pivot points used when translations instead of the rigid mass centers
external_points points from the external Mechancial State that define the rest shape springs
recompute_indices Recompute indices (should be false for BBOX) 1
springColor spring color. (default=[0.0,1.0,0.0,1.0]) 0 1 0 1
activeDirections Directions in which the spring is active (default=[1,1,1,1,1,1,1]) 1 1 1 1 1 1 1
Visualization
drawSpring draw Spring 0
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseObject
master nullptr for regular objects, or master object for which this object is one sub-objects BaseObject
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Rigid3d>
external_rest_shape rest_shape can be defined by the position of an external Mechanical State MechanicalState<Rigid3d>
topology Link to be set to the topology container in the component graph BaseMeshTopology

Vec1d

Templates:

  • Vec1d

Target: Sofa.Component.SolidMechanics.Spring

namespace: sofa::component::solidmechanics::spring

parents:

  • ForceField

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
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
points points controlled by the rest shape springs
stiffness stiffness values between the actual position and the rest shape position
angularStiffness angularStiffness assigned when controlling the rotation of the points
pivot_points global pivot points used when translations instead of the rigid mass centers
external_points points from the external Mechancial State that define the rest shape springs
recompute_indices Recompute indices (should be false for BBOX) 1
springColor spring color. (default=[0.0,1.0,0.0,1.0]) 0 1 0 1
activeDirections Directions in which the spring is active (default=[1]) 1
Visualization
drawSpring draw Spring 0
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseObject
master nullptr for regular objects, or master object for which this object is one sub-objects BaseObject
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec1d>
external_rest_shape rest_shape can be defined by the position of an external Mechanical State MechanicalState<Vec1d>
topology Link to be set to the topology container in the component graph BaseMeshTopology

Vec3d

Templates:

  • Vec3d

Target: Sofa.Component.SolidMechanics.Spring

namespace: sofa::component::solidmechanics::spring

parents:

  • ForceField

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
rayleighStiffness Rayleigh damping - stiffness matrix coefficient 0
points points controlled by the rest shape springs
stiffness stiffness values between the actual position and the rest shape position
angularStiffness angularStiffness assigned when controlling the rotation of the points
pivot_points global pivot points used when translations instead of the rigid mass centers
external_points points from the external Mechancial State that define the rest shape springs
recompute_indices Recompute indices (should be false for BBOX) 1
springColor spring color. (default=[0.0,1.0,0.0,1.0]) 0 1 0 1
activeDirections Directions in which the spring is active (default=[1,1,1]) 1 1 1
Visualization
drawSpring draw Spring 0
Name Description Destination type name
context Graph Node containing this object (or BaseContext::getDefault() if no graph is used) BaseContext
slaves Sub-objects used internally by this object BaseObject
master nullptr for regular objects, or master object for which this object is one sub-objects BaseObject
mechanicalStates List of mechanical states to which this component is associated BaseMechanicalState
mstate MechanicalState used by this component MechanicalState<Vec3d>
external_rest_shape rest_shape can be defined by the position of an external Mechanical State MechanicalState<Vec3d>
topology Link to be set to the topology container in the component graph BaseMeshTopology

Examples

RestShapeSpringsForceField3.scn

<?xml version="1.0"?>

<Node name="root" dt="2.0e-3" gravity="0 0 0" >
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
    <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.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->

    <VisualStyle displayFlags=" showCollisionModels showForceFields" />
    <DefaultAnimationLoop/>

    <Node name="Object1">
        <MechanicalObject name="object1MO" template="Rigid3d" position="0 0 0 0 0 0 1" showObject="true"/>
    </Node>

    <Node name="Object2">
        <EulerImplicitSolver rayleighMass="0" rayleighStiffness="0"/>
        <EigenSparseLU name="LULinearSolver" template="CompressedRowSparseMatrixMat3x3d"/>
        <MechanicalObject name="object2MO" template="Rigid3d" position="0.5 0.5 0 0.2705980500730985 0.2705980500730985 0 0.9238795325112867" showObject="true"/>
        <RestShapeSpringsForceField stiffness="11" angularStiffness="12"
                                    external_rest_shape="@../Object1/object1MO"
                                    points="0" external_points="0"
                                    drawSpring="true" springColor="1 1 1 1"
                                    activeDirections="1 0 1 1 0 1"/>
        <UniformMass totalMass="0.01" />
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="2.0e-3", gravity="0 0 0")

   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags=" showCollisionModels showForceFields")
   root.addObject('DefaultAnimationLoop', )

   object1 = root.addChild('Object1')

   object1.addObject('MechanicalObject', name="object1MO", template="Rigid3d", position="0 0 0 0 0 0 1", showObject="true")

   object2 = root.addChild('Object2')

   object2.addObject('EulerImplicitSolver', rayleighMass="0", rayleighStiffness="0")
   object2.addObject('EigenSparseLU', name="LULinearSolver", template="CompressedRowSparseMatrixMat3x3d")
   object2.addObject('MechanicalObject', name="object2MO", template="Rigid3d", position="0.5 0.5 0 0.2705980500730985 0.2705980500730985 0 0.9238795325112867", showObject="true")
   object2.addObject('RestShapeSpringsForceField', stiffness="11", angularStiffness="12", external_rest_shape="@../Object1/object1MO", points="0", external_points="0", drawSpring="true", springColor="1 1 1 1", activeDirections="1 0 1 1 0 1")
   object2.addObject('UniformMass', totalMass="0.01")

RestShapeSpringsForceField2.scn

<?xml version="1.0"?>

<Node name="root" dt="0.01" gravity="0 0 0" >
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
    <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.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <VisualStyle displayFlags=" showCollisionModels showForceFields" />

    <FreeMotionAnimationLoop />
    <GenericConstraintSolver maxIt="1000" tolerance="1e-10" printLog="false" />

    <Node name="Object1">
        <MechanicalObject name="ms" template="Rigid3" position="0 0 0 0 0 0 0 1" showObject="false"/>
        <SphereCollisionModel radius="0.01" color="0 1 0 1" />
    </Node>

    <Node name="Object2">
        <EulerImplicitSolver rayleighMass="0" rayleighStiffness="0"/>
        <EigenSparseLU template="CompressedRowSparseMatrix" name="LULinearSolver"/>
        <MechanicalObject name="mstate" template="Rigid3" position="0.1 0 0  0  0 0 0 1" />
        <SphereCollisionModel color="1 0 0 1" radius="0.01" />
        <RestShapeSpringsForceField stiffness="11" angularStiffness="11" external_rest_shape="@../Object1/ms" points="0" external_points="0" drawSpring="true" springColor="1 1 1 1"/>
        <UniformMass totalMass="0.01" />
        <SphereCollisionModel radius="0.0005" color="1 0 0  1" />

        <LinearSolverConstraintCorrection linearSolver="@LULinearSolver"/>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01", gravity="0 0 0")

   root.addObject('RequiredPlugin', name="Sofa.Component.AnimationLoop")
   root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Correction")
   root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Lagrangian.Solver")
   root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
   root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
   root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
   root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
   root.addObject('VisualStyle', displayFlags=" showCollisionModels showForceFields")
   root.addObject('FreeMotionAnimationLoop', )
   root.addObject('GenericConstraintSolver', maxIt="1000", tolerance="1e-10", printLog="false")

   object1 = root.addChild('Object1')

   object1.addObject('MechanicalObject', name="ms", template="Rigid3", position="0 0 0 0 0 0 0 1", showObject="false")
   object1.addObject('SphereCollisionModel', radius="0.01", color="0 1 0 1")

   object2 = root.addChild('Object2')

   object2.addObject('EulerImplicitSolver', rayleighMass="0", rayleighStiffness="0")
   object2.addObject('EigenSparseLU', template="CompressedRowSparseMatrix", name="LULinearSolver")
   object2.addObject('MechanicalObject', name="mstate", template="Rigid3", position="0.1 0 0  0  0 0 0 1")
   object2.addObject('SphereCollisionModel', color="1 0 0 1", radius="0.01")
   object2.addObject('RestShapeSpringsForceField', stiffness="11", angularStiffness="11", external_rest_shape="@../Object1/ms", points="0", external_points="0", drawSpring="true", springColor="1 1 1 1")
   object2.addObject('UniformMass', totalMass="0.01")
   object2.addObject('SphereCollisionModel', radius="0.0005", color="1 0 0  1")
   object2.addObject('LinearSolverConstraintCorrection', linearSolver="@LULinearSolver")

RestShapeSpringsForceField.scn

<Node name="root" dt="0.01">
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <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.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.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
    <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 [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <Node name="Dragon">
        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <SparseGridTopology n="10 5 10" fileTopology="mesh/dragon.obj" />
        <MechanicalObject dx="-12.0" />
        <UniformMass vertexMass="1.0" />
        <RestShapeSpringsForceField name="Springs" stiffness="50"/>

        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_2" filename="mesh/dragon.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_2" color="0.5 1.0 0.5 1.0" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>

        <Node name="TriangleSurf">
            <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
            <MeshTopology src="@loader"/>
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel group="1" />
            <LineCollisionModel group="1" />
            <PointCollisionModel group="1" />
            <BarycentricMapping input="@.." output="@." />
        </Node>
    </Node>
    <Node name="Dragon with Damping">
        <EulerImplicitSolver />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <SparseGridTopology n="10 5 10" fileTopology="mesh/dragon.obj" />
        <MechanicalObject dx="12.0" />
        <UniformMass vertexMass="1.0" />
        <RestShapeSpringsForceField name="Springs" stiffness="50"/>

        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_1" filename="mesh/dragon.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_1" color="1.0 0.5 0.5 1.0" />
            <BarycentricMapping input="@.." output="@Visual" />
        </Node>

        <Node name="TriangleSurf">
            <MeshOBJLoader name="loader" filename="mesh/dragon.obj" />
            <MeshTopology src="@loader"/>
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel group="1" />
            <LineCollisionModel group="1" />
            <PointCollisionModel group="1" />
            <BarycentricMapping input="@.." output="@." />
        </Node>
    </Node>
    <Node name="CUBE">
        <EulerImplicitSolver />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid3" dx="-12.0" dy="-20" rx="10" />
        <UniformMass totalMass="1.0" />
        <RestShapeSpringsForceField name="Springs" stiffness="50" angularStiffness="50"/>
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_3" filename="mesh/smCube27.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_3" color="0.5 1.0 0.5 1.0" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf2">
            <MeshOBJLoader name="loader" filename="mesh/smCube27.obj" triangulate="true" />
            <MeshTopology src="@loader"/>
            <MechanicalObject src="@loader"/>
            <TriangleCollisionModel group="1"/>
            <LineCollisionModel group="1"/>
            <PointCollisionModel group="1"/>
            <RigidMapping input="@.." output="@."/>
        </Node>
    </Node>
    <Node name="CUBE with Damping">
        <EulerImplicitSolver />
        <CGLinearSolver iterations="30" tolerance="1e-5" threshold="1e-5"/>
        <MechanicalObject template="Rigid3" dx="12.0" dy="-20" rx="10" />
        <UniformMass totalMass="1.0" />
        <RestShapeSpringsForceField name="Springs" stiffness="50" angularStiffness="50" />
        <Node name="Visu">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/smCube27.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="1.0 0.5 0.5 1.0" />
            <RigidMapping input="@.." output="@Visual" />
        </Node>
        <Node name="Surf2">
            <MeshOBJLoader name="loader" filename="mesh/smCube27.obj" triangulate="true" />
            <MeshTopology src="@loader"/>
            <MechanicalObject src="@loader"/>
            <TriangleCollisionModel group="1"/>
            <LineCollisionModel group="1"/>
            <PointCollisionModel group="1"/>
            <RigidMapping input="@.." output="@."/>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.01")

   root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
   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.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.GL.Component.Rendering3D")
   root.addObject('DefaultAnimationLoop', )

   dragon = root.addChild('Dragon')

   dragon.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
   dragon.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   dragon.addObject('SparseGridTopology', n="10 5 10", fileTopology="mesh/dragon.obj")
   dragon.addObject('MechanicalObject', dx="-12.0")
   dragon.addObject('UniformMass', vertexMass="1.0")
   dragon.addObject('RestShapeSpringsForceField', name="Springs", stiffness="50")

   visu = Dragon.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/dragon.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_2", color="0.5 1.0 0.5 1.0")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   triangle_surf = Dragon.addChild('TriangleSurf')

   triangle_surf.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
   triangle_surf.addObject('MeshTopology', src="@loader")
   triangle_surf.addObject('MechanicalObject', src="@loader")
   triangle_surf.addObject('TriangleCollisionModel', group="1")
   triangle_surf.addObject('LineCollisionModel', group="1")
   triangle_surf.addObject('PointCollisionModel', group="1")
   triangle_surf.addObject('BarycentricMapping', input="@..", output="@.")

   dragon_with__damping = root.addChild('Dragon with Damping')

   dragon_with__damping.addObject('EulerImplicitSolver', )
   dragon_with__damping.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   dragon_with__damping.addObject('SparseGridTopology', n="10 5 10", fileTopology="mesh/dragon.obj")
   dragon_with__damping.addObject('MechanicalObject', dx="12.0")
   dragon_with__damping.addObject('UniformMass', vertexMass="1.0")
   dragon_with__damping.addObject('RestShapeSpringsForceField', name="Springs", stiffness="50")

   visu = Dragon with Damping.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/dragon.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="1.0 0.5 0.5 1.0")
   visu.addObject('BarycentricMapping', input="@..", output="@Visual")

   triangle_surf = Dragon with Damping.addChild('TriangleSurf')

   triangle_surf.addObject('MeshOBJLoader', name="loader", filename="mesh/dragon.obj")
   triangle_surf.addObject('MeshTopology', src="@loader")
   triangle_surf.addObject('MechanicalObject', src="@loader")
   triangle_surf.addObject('TriangleCollisionModel', group="1")
   triangle_surf.addObject('LineCollisionModel', group="1")
   triangle_surf.addObject('PointCollisionModel', group="1")
   triangle_surf.addObject('BarycentricMapping', input="@..", output="@.")

   cube = root.addChild('CUBE')

   cube.addObject('EulerImplicitSolver', )
   cube.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   cube.addObject('MechanicalObject', template="Rigid3", dx="-12.0", dy="-20", rx="10")
   cube.addObject('UniformMass', totalMass="1.0")
   cube.addObject('RestShapeSpringsForceField', name="Springs", stiffness="50", angularStiffness="50")

   visu = CUBE.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/smCube27.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="0.5 1.0 0.5 1.0")
   visu.addObject('RigidMapping', input="@..", output="@Visual")

   surf2 = CUBE.addChild('Surf2')

   surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/smCube27.obj", triangulate="true")
   surf2.addObject('MeshTopology', src="@loader")
   surf2.addObject('MechanicalObject', src="@loader")
   surf2.addObject('TriangleCollisionModel', group="1")
   surf2.addObject('LineCollisionModel', group="1")
   surf2.addObject('PointCollisionModel', group="1")
   surf2.addObject('RigidMapping', input="@..", output="@.")

   cube_with__damping = root.addChild('CUBE with Damping')

   cube_with__damping.addObject('EulerImplicitSolver', )
   cube_with__damping.addObject('CGLinearSolver', iterations="30", tolerance="1e-5", threshold="1e-5")
   cube_with__damping.addObject('MechanicalObject', template="Rigid3", dx="12.0", dy="-20", rx="10")
   cube_with__damping.addObject('UniformMass', totalMass="1.0")
   cube_with__damping.addObject('RestShapeSpringsForceField', name="Springs", stiffness="50", angularStiffness="50")

   visu = CUBE with Damping.addChild('Visu')

   visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/smCube27.obj", handleSeams="1")
   visu.addObject('OglModel', name="Visual", src="@meshLoader_0", color="1.0 0.5 0.5 1.0")
   visu.addObject('RigidMapping', input="@..", output="@Visual")

   surf2 = CUBE with Damping.addChild('Surf2')

   surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/smCube27.obj", triangulate="true")
   surf2.addObject('MeshTopology', src="@loader")
   surf2.addObject('MechanicalObject', src="@loader")
   surf2.addObject('TriangleCollisionModel', group="1")
   surf2.addObject('LineCollisionModel', group="1")
   surf2.addObject('PointCollisionModel', group="1")
   surf2.addObject('RigidMapping', input="@..", output="@.")