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<Node name="root" dt="0.05" gravity="0 0 0" showBehaviorModels="1" showCollisionModels="0" showMappings="0" showForceFields="1">
<!-- Constant force for a deformable -->
<Node name="BasicDeformableObject">
<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="MechanicalObject" position="0 0 0 1 0 0 1 1 0 0 1 0" velocity="0 0 0 0 0 0 0 0 0 0 0 0"/>
<Object type="UniformMass" mass="0.1" />
<Object type="Mesh"
triangles="0 1 2 0 2 3"
/>
<!-- <Object type="FixedConstraint" indices="2 3"/>-->
<Object type="TriangleFEMForceField" name="FEM0" youngModulus="100" poissonRatio="0.3" method="large"/>
<Object type="ConstantForceField" points="0 1 2 3" forces="-1 -1 0 1 -1 0 1 1 0 -1 1 0"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" color="red"/>
<Object type="IdentityMapping" object1="../.." object2="Visual"/>
</Node>
</Node>
<Node name="TorusRigid">
<Object type="EulerImplicitSolver" rayleighStiffness="0.01" />
<Object type="CGLinearSolver" iterations="25" threshold="0.00000001" />
<Object type="MechanicalObject" template="Rigid" dx="2" dy="0" dz="0" rx="0" ry="0" rz="0" scale="1.0" />
<Object type="UniformMass" />
<!-- forces for a rigid is composed of two parts translation of the rigid dof [x y z] and a quaternion for the rotation [x y z w] -->
<Object type="ConstantForceField" points="0" forces="0 0.10 0 0 1 0 0"/>
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/torus.obj" color="gray" scale="0.3"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
</Node>
</Node>
|
