TransformEngine.scn

<Node name="Root" gravity="0 0 0" dt="0.02">
    <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 [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
    <RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
    <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.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <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 [HexahedronFEMForceField] -->
    <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.Grid"/> <!-- Needed to use components [SparseGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showVisual" />
    <CollisionPipeline name="DefaultCollisionPipeline" verbose="0" draw="0" depth="6" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <!-- Using the Transform Engine on the independent MechanicalState -->
    <Node name="TransformedState" gravity="0 -9.81 0">
        <EulerImplicitSolver name="default12" rayleighStiffness="0.01"  rayleighMass="0.1" />
        <CGLinearSolver template="GraphScattered" name="default13" iterations="25" threshold="1e-08" tolerance="1e-05"/>
        <SparseGridTopology name="default14" fileTopology="mesh/doubleBall.obj" n="6 6 6" />
        <TransformEngine name="transform" template="Vec3" translation="10 0 0" rotation="0 0 90" scale="0.5 1 2" input_position="@[-1].position" />
        <MechanicalObject template="Vec3" name="dofTransformed" position="@[-1].output_position" restScale="1" />
        <UniformMass name="default16" totalMass="5" />
        <HexahedronFEMForceField template="Vec3" name="FEM" method="polar" poissonRatio="0.3" youngModulus="5000" />
        <Node name="VisualNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="meshLoader_0" filename="mesh/doubleBall.obj" handleSeams="1" />
            <OglModel template="Vec3" name="Visual" src="@meshLoader_0" texturename="textures/board.png" material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
            <BarycentricMapping template="Vec3,Vec3" name="default17" input="@.." output="@Visual" />
        </Node>
        <Node name="CollisionNode" gravity="0 -9.81 0">
            <MeshOBJLoader name="loader" filename="mesh/doubleBall.obj" />
            <MeshTopology src="@loader" name="default18" />
            <MechanicalObject src="@loader" template="Vec3" name="default19" restScale="1" />
            <TriangleCollisionModel name="default20" />
            <LineCollisionModel name="default21" />
            <PointCollisionModel name="default22" />
            <BarycentricMapping template="Vec3,Vec3" name="default23" />
        </Node>
    </Node>
    <Node name="VisualModel">
        <MeshOBJLoader name="ObjLoader" filename="mesh/floor3.obj" />
        <TransformEngine name="transform" template="Vec3" translation="5 0 0" rotation="0 0 -90" scale="0.1 0.3 0.1" input_position="@[-1].position" />
        <OglModel name="VisualModel" src="@./ObjLoader" position="@[-1].output_position" texturename="textures/floor.bmp" />
    </Node>
</Node>