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<Node dt="0.01"
gravity="0 -9.81 0"
multiThreadSimulation="0"
name="root"
showBehaviorModels="1"
showBoundingCollisionModels="0"
showCollisionModels="1"
showForceFields="1"
showInteractionForceFields="1"
showMappings="0"
showMechanicalMappings="1"
showNormals="0"
showVisualModels="1"
showWireFrame="0"
time="0"
>
<Object type="BruteForceDetection"/>
<Object type="DefaultContactManager"/>
<Object type="DefaultPipeline"/>
<Object type="MinProximityIntersection"/>
<Node>
<Object type="EulerImplicit" name="cg odesolver" printLog="false"/>
<Object type="CGLinearSolver" iterations="100" name="linear solver" threshold="1e-20" tolerance="1e-20"/>
<Node name="restarticulation">
<Object type="MechanicalObject" name="rest" template="Vec1d" position="0 0 0 0"/>
<Object type="FixedConstraint" indices="0 1 2 3"/>
</Node>
<Node name="articulation">
<Object type="MechanicalObject" name="Articulations" template="Vec1d" position="0 0 0 0"/>
<Node>
<Object type="MechanicalObject" template="Rigid" name="DOFs"
position="0 0 0 0 0 0 1
1 0 0 0 0 0 1
3 0 0 0 0 0 1
5 0 0 0 0 0 1
7 0 0 0 0 0 1"
/>
<Object type="UniformMass" template="Rigid" name="mass"
mass="0.1 0.1 [1 0 0,0 1 0,0 0 1]"
/>
<Object type="FixedConstraint" template="Rigid" name="fixOrigin"
indices="0"
/>
<Object type="ArticulatedSystemMapping"
/>
<Node name="Collision">
<Object type="MechanicalObject" template="Vec3d"
position="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5"
/>
<Object type="MeshTopology"
lines="0 1 1 2 2 3 3 0 1 5 5 4 4 0 5 6 6 7 7 4 2 6 7 3 8 9 9 10 10 11 11 8 9 13 13 12 12 8 13 14 14 15 15 12 10 14 15 11 16 17 17 18 18 19 19 16 17 21 21 20 20 16 21 22 22 23 23 20 18 22 23 19 24 25 25 26 26 27 27 24 25 29 29 28 28 24 29 30 30 31 31 28 26 30 31 27"
triangles="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24"
/>
<Object type="TriangleModel"/>
<Object type="LineModel"/>
<Object type="RigidMapping"
repartition="0 8 8 8 8"
/>
</Node>
<Node name="Visu">
<Object type="OglModel">
<Attribute type="name">
<Data value="Visual"/>
</Attribute>
<Attribute type="position">
<Data value="-1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5 -1 -0.5 -0.5 -1 0.5 -0.5 -1 0.5 0.5 -1 -0.5 0.5 1 -0.5 -0.5 1 0.5 -0.5 1 0.5 0.5 1 -0.5 0.5"/>
</Attribute>
<Attribute type="triangles">
<Data value="3 1 0 3 2 1 3 6 2 3 7 6 7 5 6 7 4 5 4 1 5 4 0 1 5 1 2 2 6 5 4 7 3 4 3 0 11 9 8 11 10 9 11 14 10 11 15 14 15 13 14 15 12 13 12 9 13 12 8 9 13 9 10 10 14 13 12 15 11 12 11 8 19 17 16 19 18 17 19 22 18 19 23 22 23 21 22 23 20 21 20 17 21 20 16 17 21 17 18 18 22 21 20 23 19 20 19 16 27 25 24 27 26 25 27 30 26 27 31 30 31 29 30 31 28 29 28 25 29 28 24 25 29 25 26 26 30 29 28 31 27 28 27 24"/>
</Attribute>
</Object>
<Object type="RigidMapping" template="Mapping<State<StdRigidTypes<3,double> >,MappedModel<ExtVectorTypes<Vec<3,float>,Vec<3,float>,float> > > >">
<Attribute type="repartition">
<Data value="0 8 8 8 8"/>
</Attribute>
<Attribute type="object1">
<Data value="../.."/>
</Attribute>
<Attribute type="object2">
<Data value="Visual"/>
</Attribute>
</Object>
</Node>
</Node>
<Object type="ArticulatedHierarchyContainer"/>
<Node name="articulationCenters">
<Node name="articulationCenter1">
<Object type="ArticulationCenter" parentIndex="0" childIndex="1" posOnParent="0 0 0" posOnChild="-1 0 0" articulationProcess="2"/>
<Node name="articulations">
<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 0 1" articulationIndex="0"/>
</Node>
</Node>
<Node name="articulationCenter2">
<Object type="ArticulationCenter" parentIndex="1" childIndex="2" posOnParent="1 0 0" posOnChild="-1 0 0" articulationProcess="2"/>
<Node name="articulations">
<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 0 1" articulationIndex="1"/>
</Node>
</Node>
<Node name="articulationCenter3">
<Object type="ArticulationCenter" parentIndex="2" childIndex="3" posOnParent="1 0 0" posOnChild="-1 0 0" articulationProcess="0"/>
<Node name="articulations">
<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 0 1" articulationIndex="2"/>
</Node>
</Node>
<Node name="articulationCenter4">
<Object type="ArticulationCenter" parentIndex="3" childIndex="4" posOnParent="1 0 0" posOnChild="-1 0 0" articulationProcess="1"/>
<Node name="articulations">
<Object type="Articulation" translation="0" rotation="1" rotationAxis="0 0 1" articulationIndex="3"/>
</Node>
</Node>
</Node>
</Node>
<Object type="StiffSpringForceField" name="Spring" object1="articulation" object2="restarticulation" spring=" 1 1 100.0 1.0 0.0 2 2 100.0 1.0 0.0 3 3 100.0 1.0 0.0"/>
</Node>
</Node>
|
