-
Notifications
You must be signed in to change notification settings - Fork 298
/
FrictionContact_LCP_without_friction.scn
64 lines (61 loc) · 4.27 KB
/
FrictionContact_LCP_without_friction.scn
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
<?xml version="1.0" ?>
<Node name="root" dt="0.03" gravity="0 -9.810 0">
<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 [LocalMinDistance] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
<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.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
</Node>
<VisualStyle displayFlags="showVisual" />
<LCPConstraintSolver tolerance="1e-6" maxIt="1000" initial_guess="true" build_lcp="false" mu="0.0"/>
<FreeMotionAnimationLoop />
<CollisionPipeline depth="15" verbose="0" draw="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<LocalMinDistance name="Proximity" alarmDistance="0.3" contactDistance="0.1" useLMDFilters="0" />
<CollisionResponse name="Response" response="FrictionContactConstraint" responseParams="mu=0" />
<Node>
<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" />
<Node name="CUBE_1_1">
<MechanicalObject template="Rigid3" scale="0.3" dx="-2.8" dy="-1.5" dz="0.0" rx="0" />
<UniformMass totalMass="100.0" />
<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
<Node name="Visu">
<MeshOBJLoader name="meshLoader_4" filename="mesh/smCube27.obj" scale="0.3" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_4" color="0.0 0.5 0.8 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" scale="0.3" />
<TriangleCollisionModel />
<LineCollisionModel />
<PointCollisionModel />
<RigidMapping />
</Node>
</Node>
<Node name="BOX">
<MeshOBJLoader name="loader" filename="mesh/box_inside.obj" triangulate="true" rotation="5 0 0" />
<MeshTopology src="@loader"/>
<MechanicalObject src="@loader" />
<TriangleCollisionModel simulated="0" moving="0" />
<LineCollisionModel simulated="0" moving="0" />
<PointCollisionModel simulated="0" moving="0" />
<OglModel name="Visual" src="@loader" color="0 0.8 0.3 0.3" />
</Node>
</Node>
</Node>