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<Node name="root" dt="0.03" showVisualModels="1" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="0" showWireFrame="0">
<Object type="MasterContactSolver" initial_guess="true" displayTime="1" maxIt="100" build_lcp="false"/>
<Object type="CollisionPipeline" depth="8" verbose="0" draw="0"/>
<Object type="BruteForceDetection" name="N2" />
<Object type="LocalMinDistance" name="Proximity" alarmDistance="0.35" contactDistance="0.1" />
<Object type="CollisionResponse" name="Response" response="FrictionContact"/>
<Node>
<Object type="EulerImplicit" name="cg_odesolver" printLog="false"/>
<Object type="CGLinearSolver" iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
<Object type="CollisionGroup" name="Group" />
<Node name="TORUS">
<Object type="MechanicalObject" template="Rigid" scale="1.0" dx="0.0" dy="0.0" dz="0.0"/>
<Object type="UniformMass" mass="40.0" printLog="true"/>
<Object type="UncoupledConstraintCorrection"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/torus.obj" color="1.0 0.5 0.25 1.0" scale="1.0"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="Surf2">
<Object type="MeshLoader" name="meshLoader" filename="mesh/torus_for_collision.obj" triangulate="true"/>
<Object type="Mesh" />
<Object type="MechanicalObject" scale="1.0"/>
<Object type="Triangle" />
<Object type="Line" />
<Object type="Point" />
<Object type="RigidMapping" />
</Node>
</Node>
<Node name="MAN">
<Object type="EulerSolver"/>
<Object type="MechanicalObject" template="Rigid" dx="0.0" dy="0.0" dz="0.0"/>
<Object type="UniformMass" mass="100.0" printLog="true"/>
<Object type="UncoupledConstraintCorrection"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/man.obj" color="0.8 0.8 0.8 1.0" scale="10" dy="-3.0"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="Surf2">
<Object type="MeshLoader" name="meshLoader" filename="mesh/man.obj" triangulate="true"/>
<Object type="Mesh" />
<Object type="MechanicalObject" scale="10" dy="-3.0"/>
<Object type="Triangle" />
<Object type="Line" />
<Object type="Point" />
<Object type="RigidMapping" />
</Node>
</Node>
<Node name="CUBE">
<Object type="MechanicalObject" template="Rigid" scale="0.3" dx="-2.0" dy="-2.0" dz="-0.5"/>
<Object type="UniformMass" mass="100.0" printLog="true"/>
<Object type="UncoupledConstraintCorrection"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/smCube27.obj" color="0.0 0.5 0.5 1.0" scale="0.3"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="Surf2">
<Object type="MeshLoader" name="meshLoader" filename="mesh/smCube27.obj" triangulate="true"/>
<Object type="Mesh" />
<Object type="MechanicalObject" scale="0.3"/>
<Object type="Triangle" />
<Object type="Line" />
<Object type="Point" />
<Object type="RigidMapping" />
</Node>
</Node>
<Node name="DRAGON1">
<Object type="EulerSolver"/>
<Object type="MechanicalObject" template="Rigid" dx="0.0" dy="2.5" dz="2.5"/>
<Object type="UniformMass" mass="100.0" printLog="true"/>
<Object type="UncoupledConstraintCorrection"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/dragon_clean.obj" color="0.2 0.2 0.8 1.0" scale="0.25"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="Surf2">
<Object type="MeshLoader" name="meshLoader" filename="mesh/dragon_clean.obj" triangulate="true"/>
<Object type="Mesh" />
<Object type="MechanicalObject" scale="0.25"/>
<Object type="Triangle" />
<Object type="Line" />
<Object type="Point" />
<Object type="RigidMapping" />
</Node>
</Node>
<Node name="BOX">
<Object type="MeshLoader" name="meshLoader" filename="mesh/box_inside.obj" triangulate="true"/>
<Object type="Mesh"/>
<Object type="MechanicalObject"/>
<Object type="Triangle" simulated="0" moving="0"/>
<Object type="Line" simulated="0" moving="0"/>
<Object type="Point" simulated="0" moving="0"/>
<Object type="OglModel" name="Visual" fileMesh="mesh/box_outside.obj" color="1 0 0 0.3"/>
</Node>
</Node>
</Node>
|
