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<Node name="root" dt="0.005" showBehaviorModels="0" showCollisionModels="0" showMappings="0" showForceFields="0" showInteractionForceFields="1" gravity="0 -9.81 0">
<!--<Object type="MasterConstraintSolver"/>-->
<Object type="CollisionPipeline" depth="6" verbose="0" draw="0"/>
<Object type="BruteForceDetection" name="N2" />
<Object type="NewProximityIntersection" name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
<Object type="CollisionResponse" name="Response" response="default" />
<Object type="CollisionGroup" name="Group" />
<Node name="Dynamics">
<Object type="EulerImplicit" name="cg_odesolver" printLog="false"/>
<Object type="CGLinearSolver" iterations="25" name="linear solver" tolerance="1.0e-20" threshold="1.0e-20" />
<Node name="CUBE_0">
<Object type="OglModel" name="Visual" fileMesh="mesh/cube.obj" color="1 0 0 1" dy="2.5"/>
<Node name="Constraints">
<Object type="MechanicalObject" name="points" template="Vec3d" position="1 1.25 1"/>
</Node>
</Node>
<Node name="CUBE_1">
<!--<Object type="CGImplicit" iterations="25"/>-->
<Object type="MechanicalObject" template="Rigid" scale="1.0" dx="0.0" dy="0" dz="0.0"/>
<Object type="UniformMass" totalmass="10.0"/>
<!--<Object type="UncoupledConstraintCorrection"/> -->
<Node name="Visu">
<Object type="OglModel" name="Visual" fileMesh="mesh/cube.obj" color="1 1 0 1.0"/>
<Object type="RigidMapping" object1="../.." object2="Visual" />
</Node>
<Node name="ColliCube">
<Object type="Mesh" filename="mesh/cube.obj"/>
<Object type="MechanicalObject" scale="1.0"/>
<Object type="Triangle" contactStiffness="100"/>
<Object type="Line" contactStiffness="100"/>
<Object type="Point" contactStiffness="100"/>
<Object type="RigidMapping" />
</Node>
<Node name="Constraints">
<Object type="MechanicalObject" name="points" template="Vec3d" position="1 1.25 1 -1.25 -1.25 1.25"/>
<Object type="RigidMapping" />
</Node>
</Node>
<Object type="BilateralInteractionConstraint" object1="CUBE_0/Constraints/points" object2="CUBE_1/Constraints/points" first_point="0" second_point="0" />
<Node name="LagrangeMultiplier">
<Object type="MechanicalObject" name="LM" template="Vec1d" position="0 0 0" />
</Node>
<Object type="LagrangeMultiplierInteraction" object1="LagrangeMultiplier/LM" object2="CUBE_1/Constraints/points"/>
</Node>
</Node>
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