sofa_fixed_constraints

<?xml version="1.0" ?>
<Node name="lroot" gravity="0 -9.81 0" dt="0.02">

    <VisualStyle displayFlags="hideVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields hideNormals hideWireframe" />

    <FreeMotionAnimationLoop />
    <GenericConstraintSolver />

    <CollisionPipeline depth="8" />
    <BruteForceDetection name="N2" />
    <LocalMinDistance name="Proximity" alarmDistance="0.6" contactDistance="0.3" />

    <RuleBasedContactManager name="Response" response="FrictionContact"
                             rules="1 * FrictionContact?mu=0.01
                                    " />

    <DefaultVisualManagerLoop />

    <MeshObjLoader name="InputMesh" filename="/home/jnbrunet/Documents/lirv-ossim/sofa_scenes/sphere_10.obj" scale="0.2" triangulate="1" />

    <Node name="InitTopology">
        <Mesh name="surface" src="@../InputMesh" />
        <MeshTetraStuffing name="stuffing" snapPoints="true" splitTetras="false" draw="false" size="2.5" inputPoints="@surface.points" inputTriangles="@surface.triangles" />
    </Node>

    <Node name="Sphere">
        <EulerImplicit name="odesolver" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-10" threshold="1.0e-10" />

        <TetrahedronSetTopologyContainer name="volume" points="@../InitTopology/stuffing.outputPoints" tetras="@../InitTopology/stuffing.outputTetras" />
        <TetrahedronSetTopologyModifier  name="Modifier" />


        <MechanicalObject name="" dx2="12" />

        <UniformMass totalMass="1" name="mass" />

        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="2000" poissonRatio="0.3" method="large" computeGlobalMatrix="0" />

        <BoxROI name="box_roi" box="-5 -5 -5  5 5 5" drawBoxes="true" />
        <FixedConstraint indices="@box_roi.indices"/>

        <UncoupledConstraintCorrection compliance="0.005"/>

        <Node name="Surface">
            <TriangleSetTopologyContainer src="@../../InputMesh" />
            <MechanicalObject />
            <TriangleModel name="CMT" />
            <LineModel name="CML" />
            <PointModel name="CMP" />
            <BarycentricMapping useRestPosition="1" />
        </Node>
    </Node>

    <Node   name="Instrument"  >
        <EulerImplicit />
        <CGLinearSolver />

        <MechanicalObject template="Rigid" name="instrumentState" tags="Omni"  />
        <UniformMass template="Rigid" name="mass"  totalmass="1" />
        <LCPForceFeedback activate="true" forceCoef="0.005" tags="Omni" />


        <Node name="Collision">
            <Mesh position="0 0 0   0 0 10" lines="0 1"  />
            <MechanicalObject name="CM" />
            <Triangle bothSide="false" group="1" color="0 0 1 1" />
            <Line  bothSide="false" group="1" />
            <Sphere group="1" />
            <RigidMapping />
        </Node>
        <Node name="visual">
            <MeshObjLoader name="InputMesh" filename="/home/jnbrunet/sources/sofa/share/mesh/sphere_05.obj" scale="0.02" />
            <Mesh src="@InputMesh"/>
            <OglModel  name="VisualModel"/>
            <RigidMapping />
        </Node>

    </Node>

    <NewOmniDriver name="Omni Driver"  listening="true" tags="Omni" forceScale="1" scale="100"  permanent="true" alignOmniWithCamera="true" />

</Node>