RemovingBilateralInteractionConstraint.scn

<?xml version="1.0"?>
<Node name="root" dt="0.02">
    <Node name="requiredPlugins">
        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
        <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
        <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 [HexahedronFEMForceField] -->
        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [HexahedronSetGeometryAlgorithms HexahedronSetTopologyContainer HexahedronSetTopologyModifier] -->
        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
        <RequiredPlugin name="Sofa.Component.Topology.Utility"/> <!-- Needed to use components [TopologicalChangeProcessor] -->
        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    </Node>

    <VisualStyle displayFlags="showBehaviorModels showForceFields showInteractionForceFields" />

    <FreeMotionAnimationLoop parallelODESolving="true"/>
    <GenericConstraintSolver tolerance="0.001" maxIterations="1000" resolutionMethod="UnbuildGaussSeidel" multithreading="true"/>

    <!--
        This Node shows how NearestPointROI is used to create constraints to link close vertices
    -->
    <Node name="ObjectsAttachedWithConstraints">
        <EulerImplicitSolver name="cg_odesolver" rayleighStiffness="0.1" rayleighMass="0.1"/>
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        
        <Node name="gridM1" >
            <RegularGridTopology name="GM1" nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="9" />
        </Node>
        
        <Node name="gridM2" >
            <RegularGridTopology name="GM2" nx="4" ny="4" nz="10" xmin="0" xmax="3" ymin="0" ymax="3" zmin="9" zmax="18" />
        </Node>

        <Node name="M1">
            <MechanicalObject name="mo" position="@../gridM1/GM1.position"/>
            <DiagonalMass totalMass="160" />
            
            <HexahedronSetTopologyContainer name="topo" src="@../gridM1/GM1" />
            <HexahedronSetTopologyModifier name="Modifier" />
            <HexahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3"/>
            
            <BoxROI box="-0.1 -0.1 -0.1 3.1 3.1 0.1" name="box"/>
            <FixedProjectiveConstraint indices="@box.indices"/>
            <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" />
            
            <TopologicalChangeProcessor listening="1" filename="RemovingConstraint.txt" />
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>
        <Node name="M2">
            <MechanicalObject name="mo" position="@../gridM2/GM2.position"/>
            <DiagonalMass totalMass="160" />
            
            <HexahedronSetTopologyContainer name="topo" src="@../gridM2/GM2" />
            <HexahedronSetTopologyModifier name="Modifier" />
            <HexahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3"/>
           
            <HexahedronFEMForceField name="FEM" youngModulus="4000" poissonRatio="0.3" />
            
            <TopologicalChangeProcessor listening="1" filename="RemovingConstraint.txt" />
            <UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>
        </Node>

        <BilateralLagrangianConstraint template="Vec3" object1="@M1" object2="@M2"
            topology1="@M1/topo" topology2="@M2/topo"
            first_point="144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159" 
            second_point="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15" />
    </Node>
    

</Node>