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Simplify the example and added the complete scene in the demo folder
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| <?xml version="1.0"?> | ||
| <Node name="root" gravity="0 -100 0" dt="0.01" > | ||
| <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [AffineMovementProjectiveConstraint] --> | ||
| <RequiredPlugin name="MultiThreading"/> <!-- Needed to use components [ParallelBVHNarrowPhase,ParallelBruteForceBroadPhase] --> | ||
| <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] --> | ||
| <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [CollisionPipeline] --> | ||
| <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [NewProximityIntersection] --> | ||
| <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel,TriangleCollisionModel] --> | ||
| <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] --> | ||
| <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.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader,MeshVTKLoader] --> | ||
| <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSimplicialLDLT,EigenSparseLU] --> | ||
| <RequiredPlugin name="Sofa.Component.LinearSystem"/> <!-- Needed to use components [ConstantSparsityPatternSystem] --> | ||
| <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 [MeshMatrixMass,UniformMass] --> | ||
| <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] --> | ||
| <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] --> | ||
| <RequiredPlugin name="Sofa.Component.Setting"/> <!-- Needed to use components [BackgroundSetting] --> | ||
| <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [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 [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopologyContainer] --> | ||
| <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] --> | ||
| <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] --> | ||
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| <!-- # Rendering settings --> | ||
| <VisualStyle name="RenderingOptions" displayFlags="showVisualModels" /> | ||
| <BackgroundSetting color="0.8 0.8 0.8 1" /> | ||
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| <!-- # Header of the simulation --> | ||
| <FreeMotionAnimationLoop name="FreeMotionAnimationLoop" parallelODESolving="true" parallelCollisionDetectionAndFreeMotion="true"/> | ||
| <GenericConstraintSolver maxIterations="50" multithreading='true' tolerance="1.0e-3"/> | ||
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| <!-- # Definition of the collision pipeline --> | ||
| <CollisionPipeline name="CollisionPipeline" /> | ||
| <ParallelBruteForceBroadPhase name="CollisionBroadPhase"/> | ||
| <ParallelBVHNarrowPhase name="CollisionNarrowPhase"/> | ||
| <CollisionResponse name="CollisionResponse" response="FrictionContactConstraint" responseParams="mu=0.2"/> | ||
| <NewProximityIntersection name="Intersection" alarmDistance="10" contactDistance="5" /> | ||
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| <!-- # Object = SOFA Logo --> | ||
| <Node name="SOFALogo"> | ||
| <EulerImplicitSolver name="EulerImplicitScheme" /> | ||
| <ConstantSparsityPatternSystem template="CompressedRowSparseMatrixd" name="A" printLog="false"/> | ||
| <EigenSimplicialLDLT name="LDLTLinearSolver" template="CompressedRowSparseMatrixd" parallelInverseProduct="true" linearSystem="@A"/> | ||
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| <MeshVTKLoader name="LogoLoader" filename="mesh/SOFA_volume.vtk" translation="-120 20 0" rotation="180 0 90"/> | ||
| <TetrahedronSetTopologyContainer name="Container" src="@LogoLoader" /> | ||
| <TetrahedronSetTopologyModifier name="Modifier"/> | ||
| <MechanicalObject name="LogoDOF" template="Vec3d" /> | ||
| <TetrahedronFEMForceField name="LinearElasticityFEM" youngModulus="5" poissonRatio="0.3" method="large" /> | ||
| <MeshMatrixMass name="Mass" totalMass="0.1" /> | ||
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| <Node name="Collision"> | ||
| <MeshOBJLoader name="SurfaceLoader" filename="mesh/SOFA_collision_no_face.obj" translation="-120 20 0" rotation="180 0 90"/> | ||
| <MeshTopology name="CollisionTopo" src="@SurfaceLoader"/> | ||
| <MechanicalObject name="CollisionDOF" src="@CollisionTopo" /> | ||
| <LineCollisionModel selfCollision="1" topology="@CollisionTopo" group="2 3 5"/> | ||
| <BarycentricMapping name="MappingCollision" input="@../LogoDOF" output="@CollisionDOF"/> | ||
| </Node> | ||
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| <Node name="BorderCollision"> | ||
| <MeshOBJLoader name="SurfaceLoader" filename="mesh/SOFA_collision_center.obj" translation="-120 20 0" rotation="180 0 90"/> | ||
| <MeshTopology name="CollisionTopo" src="@SurfaceLoader"/> | ||
| <MechanicalObject name="CollisionDOF" src="@CollisionTopo"/> | ||
| <LineCollisionModel selfCollision="1" topology="@CollisionTopo" group="3 4"/> | ||
| <BarycentricMapping name="MappingCollision" input="@../LogoDOF" output="@CollisionDOF"/> | ||
| </Node> | ||
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| <Node name="Visu"> | ||
| <MeshOBJLoader name="SurfaceLoader" filename="mesh/SOFA_surface.obj" translation="-120 20 0" rotation="180 0 90"/> | ||
| <OglModel name="VisualModel" color="0.7 .35 0 1" position="@SurfaceLoader.position" triangles="@SurfaceLoader.triangles" /> | ||
| <BarycentricMapping name="MappingVisu" isMechanical="false" input="@../LogoDOF" output="@VisualModel" /> | ||
| </Node> | ||
| <LinearSolverConstraintCorrection name="ConstraintCorrection" linearSolver="@LDLTLinearSolver"/> | ||
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| </Node> | ||
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| <Node name="Box"> | ||
| <EulerImplicitSolver name="EulerImplicitScheme" /> | ||
| <EigenSparseLU name="LUSolver" template="CompressedRowSparseMatrixd" /> | ||
| <MechanicalObject name="mstate" template="Rigid3" position="0 0 0 0 0 0 1" /> | ||
| <LinearVelocityProjectiveConstraint indices="0" keyTimes="0 2" velocities="0 0 0 0 0 0 0 0 0 0 0 0.3 " continueAfterEnd="true" /> | ||
| <UniformMass name="Mass" totalMass="0.1" /> | ||
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| <Node name="Collision"> | ||
| <TriangleSetTopologyContainer name="FloorTopology" position="-200 -200 15 200 -200 15 200 200 15 -200 200 15 -200 -200 -15 200 -200 -15 200 200 -15 -200 200 -15" triangles="0 2 1 0 3 2 4 6 5 4 7 6 0 1 4 5 4 1 3 6 2 3 7 6 1 2 6 1 6 5 0 4 3 3 4 7"/> | ||
| <MechanicalObject name="CollisionDOF" template="Vec3"/> | ||
| <TriangleCollisionModel selfCollision="0" topology="@FloorTopology" simulated="0" group="1 2" proximity="3" /> | ||
| <RigidMapping name="MappingCollision" input="@../mstate" output="@CollisionDOF" globalToLocalCoords="true"/> | ||
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| </Node> | ||
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| <Node name="Visu"> | ||
| <OglModel name="VisualModel" color="0.5 0.5 0.5 0.2" src="@../Collision/FloorTopology" /> | ||
| <RigidMapping name="MappingCollision" input="@../mstate" output="@VisualModel" globalToLocalCoords="true"/> | ||
| </Node> | ||
| </Node> | ||
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| </Node> | ||
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