File: JointSpringForceField.scn

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sofa-framework 1.0~beta4-12
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file content (100 lines) | stat: -rw-r--r-- 5,160 bytes parent folder | download | duplicates (5) 
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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="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
		<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="1 1 [1 0 0,0 1 0,0 0 1]"
		/>
		<Object type="FixedConstraint" template="Rigid" name="fixOrigin"
				indices="0"
		/>

		<Node>
			<Object type="MechanicalObject" template="Rigid" name="attaches"
					position="0 0 0 0.707914 0 0 0.707914 
							 -1 0 0 0.707914 0 0 0.707914 
							  1 0 0 0.707914 0 0 0.707914 
							 -1 0 0 0.707914 0 0 0.707914 
							  1 0 0 0.707914 0 0 0.707914 
							 -1 0 0 0.707914 0 0 0.707914 
							  1 0 0 0.707914 0 0 0.707914 
							 -1 0 0 0.707914 0 0 0.707914 
							  1 0 0 0.707914 0 0 0.707914"
			/>
			<Object type="RigidRigidMapping"
					repartition="1 2 2 2 2"
			/>
			<Object type="JointSpringForceField" template="Rigid" name="joint springs"
					spring="BEGIN_SPRING 0 1  FREE_AXIS 0 0 0 0 1 0  KS_T 0.0 30000.0  KS_R 0.0 200000.0  KS_B 2000.0  KD 1.0  R_LIM_X -0.80 0.80  R_LIM_Y -1.57 1.57  R_LIM_Z 0.0 0.0  END_SPRING 
							BEGIN_SPRING 2 3  FREE_AXIS 0 0 0 0 1 0  KS_T 0.0 30000.0  KS_R 0.0 200000.0  KS_B 2000.0  KD 1.0  R_LIM_X -0.80 0.80  R_LIM_Y -1.57 1.57  R_LIM_Z 0.0 0.0  END_SPRING 
							BEGIN_SPRING 4 5  FREE_AXIS 0 0 0 0 1 0  KS_T 0.0 30000.0  KS_R 0.0 200000.0  KS_B 2000.0  KD 1.0  R_LIM_X -0.80 0.80  R_LIM_Y -1.57 1.57  R_LIM_Z 0.0 0.0  END_SPRING 
							BEGIN_SPRING 6 7  FREE_AXIS 0 0 0 0 1 0  KS_T 0.0 30000.0  KS_R 0.0 200000.0  KS_B 2000.0  KD 1.0  R_LIM_X -0.80 0.80  R_LIM_Y -1.57 1.57  R_LIM_Z 0.0 0.0  END_SPRING "
			/>
		</Node>
		<Node>
			<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&lt;State&lt;StdRigidTypes&lt;3,double&gt; &gt;,MappedModel&lt;ExtVectorTypes&lt;Vec&lt;3,float&gt;,Vec&lt;3,float&gt;,float&gt; &gt; &gt; &gt;">
				<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>
</Node>