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fallingBeamLagrangianCollision.scn
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fallingBeamLagrangianCollision.scn
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<?xml version="1.0"?>
<Node name="root" dt="0.01" gravity="0 0 -9.81">
<Node name="plugins">
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<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.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 [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [ShewchukPCGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<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.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetTopology
Container,TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping,Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
</Node>
<VisualStyle displayFlags="showForceFields"/>
<ConstraintAttachButtonSetting/> <!-- The presence of this component sets the mouse interaction to Lagrangian-based constraints at the GUI launch -->
<FreeMotionAnimationLoop />
<GenericConstraintSolver maxIterations="200" tolerance="1.0e-8"/>
<CollisionPipeline name="Pipeline" />
<BruteForceBroadPhase name="BroadPhase" />
<BVHNarrowPhase name="NarrowPhase" />
<CollisionResponse name="ContactManager" response="FrictionContactConstraint" responseParams="mu=0.5" />
<NewProximityIntersection name="Intersection" alarmDistance="0.02" contactDistance="0.001" />
<Node name="BEAMVOLUME">
<RegularGridTopology name="HexaTop" n="25 5 5" min="0 0 0" max="0.5 0.1 0.1"/>
<TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="true"/>
</Node>
<Node name="FEM">
<EulerImplicitSolver firstOrder="false" rayleighMass="0.1" rayleighStiffness="0.1"/>
<ShewchukPCGLinearSolver preconditioner="@precond"/>
<SparseLDLSolver name="precond" template="CompressedRowSparseMatrixMat3x3" parallelInverseProduct="true" />
<TetrahedronSetTopologyContainer name="Container" position="@../BEAMVOLUME/HexaTop.position"
tetrahedra="@../BEAMVOLUME/Container.tetrahedra"/>
<TetrahedronSetTopologyModifier name="Modifier"/>
<MechanicalObject name="mstate" template="Vec3d" src="@Container"/>
<TetrahedronFEMForceField name="forceField" listening="true" youngModulus="6e4" poissonRatio="0.40" />
<UniformMass totalMass="1"/>
<Node name="Surface">
<TriangleSetTopologyContainer name="Container"/>
<TriangleSetTopologyModifier name="Modifier"/>
<Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" flipNormals="false"/>
<MechanicalObject name="dofs" rest_position="@../mstate.rest_position"/>
<TriangleCollisionModel name="Torus8CMT" proximity="0.001" contactStiffness="20" color="0.94117647058824 0.93725490196078 0.89411764705882" />
<Node name="Visual" activated="1">
<TriangleSetTopologyContainer name="Container" src="@../Container"/>
<OglModel color="1.0 0.1 0.2 1.0" name="visualModel"/>
<IdentityMapping name="VisualMapping"/>
</Node>
<IdentityMapping name="SurfaceMapping"/>
</Node>
<LinearSolverConstraintCorrection linearSolver="@precond"/>
</Node>
<Node name="Floor" tags="NoBBox" >
<VisualStyle displayFlags="showCollisionModels"/>
<TriangleSetTopologyContainer name="FloorTopo" position="0.1 -0.1 -1 0.1 0.2 -1 0.4 0.2 -1 0.4 -0.1 -1
0.1 -0.1 -1.2 0.1 0.2 -1.2 0.4 0.2 -1.2 0.4 -0.1 -1.2" triangles="0 2 1 0 3 2
0 1 5 0 5 4
0 4 7 0 7 3
1 2 6 1 6 5
3 7 6 3 6 2
4 5 6 4 6 7" />
<MechanicalObject template="Vec3"/>
<TriangleCollisionModel name="FloorCM" proximity="0.001" contactStiffness="60" moving="0" simulated="0" />
</Node>
</Node>