Tetra2TriangleTopologicalMapping

Topological mapping where TetrahedronSetTopology is converted to TriangleSetTopology

Target: Sofa.Component.Topology.Mapping

namespace: sofa::component::topology::mapping

parents:

• TopologicalMapping

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
flipNormals	Flip Normal ? (Inverse point order when creating triangle)	0
noNewTriangles	If true no new triangles are being created	0
noInitialTriangles	If true the list of initial triangles is initially empty. Only additional triangles will be added in the list	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 topology to map	BaseMeshTopology
output	Output topology to map	BaseMeshTopology

Examples

Tetra2TriangleTopologicalMapping.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" dt="0.05" 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 [MinProximityIntersection] -->
    <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 [FixedPlaneProjectiveConstraint FixedProjectiveConstraint] -->
    <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 [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultAnimationLoop/>
    <Node name="TT">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" name="Volume" />
        <include href="Objects/TetrahedronSetTopology.xml" src="@loader" tags=" " />
        <DiagonalMass massDensity="0.5" />
        <FixedPlaneProjectiveConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
        <FixedProjectiveConstraint indices="0" />
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="360" poissonRatio="0.3" method="large" />
        <Node name="T">
            <include href="Objects/TriangleSetTopology.xml" src="@" tags=" " />
            <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
            <TriangularFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
            <TrianglePressureForceField normal="0 0 1" dmin="0.9" dmax="1.1" pressure="0.4 0 0" />
            <TriangleCollisionModel />
            <Node name="Visu">
                <OglModel name="Visual" color="blue" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.05", 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.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.SolidMechanics.Spring")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   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="showBehaviorModels showVisual")
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('DefaultAnimationLoop', )

   tt = root.addChild('TT')

   tt.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   tt.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   tt.addObject('MeshGmshLoader', name="loader", filename="mesh/cylinder.msh")
   tt.addObject('MechanicalObject', src="@loader", name="Volume")
   tt.addObject('include', href="Objects/TetrahedronSetTopology.xml", src="@loader", tags=" ")
   tt.addObject('DiagonalMass', massDensity="0.5")
   tt.addObject('FixedPlaneProjectiveConstraint', direction="0 0 1", dmin="-0.1", dmax="0.1")
   tt.addObject('FixedProjectiveConstraint', indices="0")
   tt.addObject('TetrahedralCorotationalFEMForceField', name="FEM", youngModulus="360", poissonRatio="0.3", method="large")

   t = TT.addChild('T')

   t.addObject('include', href="Objects/TriangleSetTopology.xml", src="@", tags=" ")
   t.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container")
   t.addObject('TriangularFEMForceField', name="FEM", youngModulus="60", poissonRatio="0.3", method="large")
   t.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="300", damping="1.0")
   t.addObject('TrianglePressureForceField', normal="0 0 1", dmin="0.9", dmax="1.1", pressure="0.4 0 0")
   t.addObject('TriangleCollisionModel', )

   visu = T.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="blue")
   visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")

Tetra2TriangleTopologicalMapping_with_TetrahedronModel.scn

XMLPython

<Node name="root" gravity="0 0 0" dt="0.05">
    <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 [TetrahedronCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedPlaneProjectiveConstraint FixedProjectiveConstraint] -->
    <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 [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />
    <CollisionPipeline name="default0" verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse name="default1" response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultAnimationLoop/>
    <Node name="TT" gravity="0 -9.81 0">
        <EulerImplicitSolver name="cg_odesolver" printLog="0"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver template="GraphScattered" name="linear solver" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" template="Vec3" name="Volume" restScale="1" />
        <TetrahedronSetTopologyContainer src="@loader" name="Container" />
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <DiagonalMass template="Vec3,Vec3" name="default3" massDensity="0.5" />
        <FixedPlaneProjectiveConstraint template="Vec3" name="default4" direction="0 0 1" dmin="-0.1" dmax="0.1" />
        <FixedProjectiveConstraint template="Vec3" name="default5" indices="0" />
        <TetrahedronCollisionModel />
        <TetrahedralCorotationalFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="360" assembling="0" />
        <Node name="T" gravity="0 -9.81 0">
            <TriangleSetTopologyContainer name="Container" tags="meca" />
            <TriangleSetTopologyModifier name="Modifier" tags="meca" />
            <TriangleSetGeometryAlgorithms template="Vec3" name="GeomAlgo" tags="meca" />
            <Tetra2TriangleTopologicalMapping name="default6" input="@../Container" output="@Container" />
            <TriangularFEMForceField template="Vec3" name="FEM" method="large" poissonRatio="0.3" youngModulus="60" />
            <TriangularBendingSprings template="Vec3" name="FEM-Bend" stiffness="300" damping="1" />
            <TrianglePressureForceField template="Vec3" name="default7" pressure="0.4 0 0" normal="0 0 1" dmin="0.9" dmax="1.1" />
            <Node name="Visu" gravity="0 -9.81 0">
                <OglModel template="Vec3" name="Visual" material="Default Diffuse 1 0 0 1 1 Ambient 1 0 0 0.2 1 Specular 0 0 0 1 1 Emissive 0 0 0 1 1 Shininess 0 45" />
                <IdentityMapping template="Vec3,Vec3" name="default9" input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', gravity="0 0 0", dt="0.05")

   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.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.SolidMechanics.Spring")
   root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
   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="showBehaviorModels showVisual")
   root.addObject('CollisionPipeline', name="default0", verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', name="default1", response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('DefaultAnimationLoop', )

   tt = root.addChild('TT', gravity="0 -9.81 0")

   tt.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="0", rayleighStiffness="0.1", rayleighMass="0.1")
   tt.addObject('CGLinearSolver', template="GraphScattered", name="linear solver", iterations="25", tolerance="1e-09", threshold="1e-09")
   tt.addObject('MeshGmshLoader', name="loader", filename="mesh/cylinder.msh")
   tt.addObject('MechanicalObject', src="@loader", template="Vec3", name="Volume", restScale="1")
   tt.addObject('TetrahedronSetTopologyContainer', src="@loader", name="Container")
   tt.addObject('TetrahedronSetTopologyModifier', name="Modifier")
   tt.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
   tt.addObject('DiagonalMass', template="Vec3,Vec3", name="default3", massDensity="0.5")
   tt.addObject('FixedPlaneProjectiveConstraint', template="Vec3", name="default4", direction="0 0 1", dmin="-0.1", dmax="0.1")
   tt.addObject('FixedProjectiveConstraint', template="Vec3", name="default5", indices="0")
   tt.addObject('TetrahedronCollisionModel', )
   tt.addObject('TetrahedralCorotationalFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="360", assembling="0")

   t = TT.addChild('T', gravity="0 -9.81 0")

   t.addObject('TriangleSetTopologyContainer', name="Container", tags="meca")
   t.addObject('TriangleSetTopologyModifier', name="Modifier", tags="meca")
   t.addObject('TriangleSetGeometryAlgorithms', template="Vec3", name="GeomAlgo", tags="meca")
   t.addObject('Tetra2TriangleTopologicalMapping', name="default6", input="@../Container", output="@Container")
   t.addObject('TriangularFEMForceField', template="Vec3", name="FEM", method="large", poissonRatio="0.3", youngModulus="60")
   t.addObject('TriangularBendingSprings', template="Vec3", name="FEM-Bend", stiffness="300", damping="1")
   t.addObject('TrianglePressureForceField', template="Vec3", name="default7", pressure="0.4 0 0", normal="0 0 1", dmin="0.9", dmax="1.1")

   visu = T.addChild('Visu', gravity="0 -9.81 0")

   visu.addObject('OglModel', template="Vec3", name="Visual", material="Default Diffuse 1 0 0 1 1 Ambient 1 0 0 0.2 1 Specular 0 0 0 1 1 Emissive 0 0 0 1 1 Shininess 0 45")
   visu.addObject('IdentityMapping', template="Vec3,Vec3", name="default9", input="@../../Volume", output="@Visual")

Tetra2TriangleTopologicalMapping_NoInitialTriangle_option.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" dt="0.05" 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 [MinProximityIntersection] -->
    <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 [FixedPlaneProjectiveConstraint FixedProjectiveConstraint] -->
    <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 [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <VisualStyle displayFlags="showBehaviorModels showVisual" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <CollisionResponse response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />
    <DefaultAnimationLoop/>
    <Node name="TT">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshGmshLoader name="loader" filename="mesh/cylinder.msh" />
        <MechanicalObject src="@loader" name="Volume" />
        <include href="Objects/TetrahedronSetTopology.xml" src="@loader" tags=" " />
        <DiagonalMass massDensity="0.5" />
        <FixedPlaneProjectiveConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
        <FixedProjectiveConstraint indices="0" />
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="360" poissonRatio="0.3" method="large" />
        <TriangleCollisionModel />
        <Node name="T1">
            <include href="Objects/TriangleSetTopology.xml" src="@../loader" tags=" " />
            <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" noNewTriangles="1" />
            <TriangularFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="300" damping="1.0" />
            <Node name="Visu">
                <OglModel name="Visual" color="blue" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
        <Node name="T2">
            <include href="Objects/TriangleSetTopology.xml" src="@../Container" tags=" " />
            <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" noInitialTriangles="1" />
            <Node name="Visu">
                <OglModel name="Visual" color="red" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(root_node):

   root = root_node.addChild('root', dt="0.05", 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.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.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.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="showBehaviorModels showVisual")
   root.addObject('CollisionPipeline', verbose="0")
   root.addObject('BruteForceBroadPhase', )
   root.addObject('BVHNarrowPhase', )
   root.addObject('CollisionResponse', response="PenalityContactForceField")
   root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.8", contactDistance="0.5")
   root.addObject('DefaultAnimationLoop', )

   tt = root.addChild('TT')

   tt.addObject('EulerImplicitSolver', name="cg_odesolver", printLog="false", rayleighStiffness="0.1", rayleighMass="0.1")
   tt.addObject('CGLinearSolver', iterations="25", name="linear solver", tolerance="1.0e-9", threshold="1.0e-9")
   tt.addObject('MeshGmshLoader', name="loader", filename="mesh/cylinder.msh")
   tt.addObject('MechanicalObject', src="@loader", name="Volume")
   tt.addObject('include', href="Objects/TetrahedronSetTopology.xml", src="@loader", tags=" ")
   tt.addObject('DiagonalMass', massDensity="0.5")
   tt.addObject('FixedPlaneProjectiveConstraint', direction="0 0 1", dmin="-0.1", dmax="0.1")
   tt.addObject('FixedProjectiveConstraint', indices="0")
   tt.addObject('TetrahedralCorotationalFEMForceField', name="FEM", youngModulus="360", poissonRatio="0.3", method="large")
   tt.addObject('TriangleCollisionModel', )

   t1 = TT.addChild('T1')

   t1.addObject('include', href="Objects/TriangleSetTopology.xml", src="@../loader", tags=" ")
   t1.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", noNewTriangles="1")
   t1.addObject('TriangularFEMForceField', name="FEM", youngModulus="60", poissonRatio="0.3", method="large")
   t1.addObject('TriangularBendingSprings', name="FEM-Bend", stiffness="300", damping="1.0")

   visu = T1.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="blue")
   visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")

   t2 = TT.addChild('T2')

   t2.addObject('include', href="Objects/TriangleSetTopology.xml", src="@../Container", tags=" ")
   t2.addObject('Tetra2TriangleTopologicalMapping', input="@../Container", output="@Container", noInitialTriangles="1")

   visu = T2.addChild('Visu')

   visu.addObject('OglModel', name="Visual", color="red")
   visu.addObject('IdentityMapping', input="@../../Volume", output="@Visual")