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<?xml version="1.0" ?>
<Node name="root" dt="0.01" gravity="0 981 0">
<RequiredPlugin name="SofaOpenglVisual"/>
<VisualStyle displayFlags="showBehaviorModels"/>
<FreeMotionAnimationLoop/>
<LCPConstraintSolver tolerance="1e-3" maxIt="1000"/>
<DefaultPipeline depth="6" verbose="0" draw="0"/>
<BruteForceDetection name="N2"/>
<LocalMinDistance name="Proximity" alarmDistance="2.5" contactDistance="1.0" angleCone="0.0"/>
<DefaultContactManager name="Response" response="FrictionContact"/>
<Node name="Torus1">
<MeshObjLoader filename="mesh/torus2_for_collision.obj" name="loader"/>
<Mesh src="@loader"/>
<MechanicalObject src="@loader" scale="5.0"/>
<TriangleCollisionModel simulated="0" moving="0"/>
<LineCollisionModel simulated="0" moving="0"/>
<PointCollisionModel simulated="0" moving="0"/>
<MeshObjLoader name="meshLoader_0" filename="mesh/torus2.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_0" color="0.5 0.5 0.5 1.0"/>
</Node>
<Node name="TorusFEM">
<EulerImplicitSolver rayleighMass="0.01" rayleighStiffness="0.001"/>
<CGLinearSolver iterations="15" threshold="1.0e-15" tolerance="1.0e-9"/>
<!--<SparseLDLSolver />-->
<MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh"/>
<Mesh src="@loader"/>
<MechanicalObject src="@loader" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0" scale="5.0"/>
<UniformMass totalMass="0.2"/>
<TetrahedronFEMForceField name="FEM" youngModulus="60000" poissonRatio="0.48" computeGlobalMatrix="false" method="polar"/>
<!--<LinearSolverConstraintCorrection />-->
<PrecomputedConstraintCorrection rotations="true" recompute="1"/>
<Node name="Visu">
<MeshObjLoader name="meshLoader_2" filename="mesh/torus.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_2" color="red" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0"/>
<BarycentricMapping input="@.." output="@Visual"/>
</Node>
<Node name="Surf2">
<MeshObjLoader name="loader" filename="mesh/torus_for_collision.obj"/>
<Mesh src="@loader"/>
<MechanicalObject src="@loader" dx="-12" dy="0" dz="0" rx="0" ry="0" rz="0" scale="5.0"/>
<TriangleCollisionModel contactStiffness="0.1"/>
<Line/>
<Point/>
<BarycentricMapping/>
</Node>
</Node>
<Node name="Torus3">
<EulerImplicitSolver/>
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject template="Rigid" scale="5.0" dx="-25" dy="0"/>
<UniformMass filename="BehaviorModels/torus2.rigid" totalMass="0.02"/>
<UncoupledConstraintCorrection/>
<Node name="Visu">
<MeshObjLoader name="meshLoader_1" filename="mesh/torus2.obj" scale="5.0" handleSeams="1" />
<OglModel name="Visual" src="@meshLoader_1" color="1.0 0.5 0.25 1.0"/>
<RigidMapping input="@.." output="@Visual"/>
</Node>
<Node name="Surf2">
<MeshObjLoader filename="mesh/torus2_for_collision.obj" name="loader"/>
<Mesh src="@loader"/>
<MechanicalObject src="@loader" scale="5.0"/>
<Triangle/>
<Line/>
<Point/>
<RigidMapping/>
</Node>
</Node>
</Node>
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