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
|
<?xml version="1.0" ?>
<!-- See https://wiki.sofa-framework.org/wiki/TutorialTopologyLinearMesh -->
<Node name="Root" gravity="0 -9.81 0" dt="0.02" showVisualModels="1" showBehaviorModels="1" showForceFields="1" showInteractionForceFields="1">
<!-- Basic Components to perform the collision detection -->
<DefaultPipeline name="DefaultCollisionPipeline" depth="6"/>
<BruteForceDetection name="Detection"/>
<MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2"/>
<DefaultContactManager name="Response"/>
<DefaultCollisionGroupManager name="Group"/>
<Node name="Pendulum Static Mesh">
<MechanicalObject template="Vec3d" name="DOF" position="0 0 -2 1 0 -2 2 0 -2 3 0 -2 4 0 -2 5 0 -2"/>
<UniformMass template="Vec3d" name="Mass" totalmass="1"/>
<CGLinearSolver template="GraphScattered" name="CG solver"/>
<EulerImplicitSolver name="EulerImplicit"/>
<FixedConstraint template="Vec3d" name="Fixed dof" indices="0"/>
<MeshTopology name="Static Mesh" edges="0 1 1 2 2 3 3 4 4 5 "/>
<MeshSpringForceField template="Vec3d" name="springs"/>
</Node>
<Node name="Pendulum Regular Mesh">
<MechanicalObject template="Vec3d" name="DOF" position="0 0 6"/>
<UniformMass template="Vec3d" name="Mass" totalmass="1"/>
<CGLinearSolver template="GraphScattered" name="CG solver"/>
<EulerImplicitSolver name="EulerImplicit"/>
<FixedConstraint template="Vec3d" name="Fixed dof" indices="0"/>
<RegularGridTopology name="Regular Mesh" n="6 1 1" min="0 0 6" max="5 1 6"/>
<RegularGridSpringForceField template="Vec3d" name="springs"/>
</Node>
<Node name="Pendulum Dynamic Mesh">
<MechanicalObject template="Vec3d" name="DOF" position="0 0 2 1 0 2 2 0 2 3 0 2 4 0 2 5 0 2"/>
<UniformMass template="Vec3d" name="Mass" totalmass="1"/>
<CGLinearSolver template="GraphScattered" name="CG solver"/>
<EulerImplicitSolver name="EulerImplicit"/>
<FixedConstraint template="Vec3d" name="Fixed dof" indices="0"/>
<EdgeSetTopologyContainer name="Dynamic Mesh" edges="0 1 1 2 2 3 3 4 4 5 "/>
<MeshSpringForceField template="Vec3d" name="springs"/>
</Node>
</Node>
|
