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  1. <?xml version="1.0"?>
  2.  <!--  
  3.  
  4.  
  5. This scene shows two nodes, both contain two sets of mechanical states.
  6. The only difference between both nodes is, that the former has a RigidRigidMapping with globalToLocalCoords set to 1
  7.  
  8.  
  9. -->
  10. <Node    name="root"  gravity="0 -9.81 0"  dt="1e-4"  time="0"  >
  11.     <VisualStyle name="visualStyle1"  displayFlags="showVisual showBehaviorModels hideForceFields showInteractionForceFields hideCollision hideMapping hideOptions" />
  12.  
  13.  
  14.     <Node    name="with_rigidrigdmapping"   >
  15.         <MechanicalObject template="Rigid3d" name="DOFs"    showObject="1" showObjectScale="2"  translation="0 0 0" rotation="0 0 0" position="
  16. 2.6645352591e-15 2.0 -0.0            0.0 8.81239525796e-16 0.0 -1.0
  17. 3.73183485552 2.0 -0.0               0.0 8.81239525796e-16 0.0 -1.0
  18. 7.46189780804 2.0 0.0808998079489    0.0 0.0328430221811 0.0 -0.999460522429
  19. 11.1673581231 2.0 0.510627285921     0.0 0.082512809989 0.0 -0.996590004058
  20. 14.8117912976 2.0 1.3063713959       0.0 0.131978351553 0.0 -0.991252598847
  21. 18.3591349964 2.0 2.46025810387      0.0 0.181117203448 0.0 -0.983461518624
  22. 21.7742876025 2.0 3.96086948906      0.0 0.229807730913 0.0 -0.973236048866
  23. 25.023455554 2.0 5.79335672641       0.0 0.277929408937 0.0 -0.960601500961
  24. 28.0744877376 2.0 7.93958701836      0.0 0.325363120597 0.0 -0.945589149555
  25. 30.8971936301 2.0 10.3783230223      0.0 0.371991451914 0.0 -0.928236155137
  26. 33.4636420384 2.0 13.0854329977      0.0 0.417698982486 0.0 -0.908585472055
  27. 35.7484374846 2.0 16.0341295947      0.0 0.462372571198 0.0 -0.88668574219
  28. 37.7289714983 2.0 19.1952349192      0.0 0.505901636279 0.0 -0.862591174549
  29. 39.385646332 2.0 22.5374692539       0.0 0.548178429028 0.0 -0.836361411083
  30. 40.7020688841 2.0 26.0277605764      0.0 0.589098300528 0.0 -0.808061379051
  31. 41.6652129119 2.0 29.6315718137      0.0 0.62855996069 0.0 -0.777761130308
  32. 42.2655479284 2.0 33.313242592       0.0 0.666465728971 0.0 -0.745535667897
  33. 42.4971335085 2.0 37.0363421033      0.0 0.702721776175 0.0 -0.711464760399
  34. 42.5 2.0 40.7681651445      0.0 0.707106781187 0.0 -0.707106781187
  35.        " />
  36.         <FixedConstraint template="Rigid3d" name="fixOriginPosition"  indices="0 1" />
  37.         <Node name="segmentsNode" >
  38.             <MechanicalObject template="Rigid3d" name="attaches" showObject="1" showObjectScale="1"  translation="0 0 0" rotation="0 0 0"  position="
  39. 2.6645352591e-15 0.0 -0.0      0.0 8.81239525796e-16 0.0 -1.0
  40. 3.73183485552 0.0 -0.0      0.0 8.81239525796e-16 0.0 -1.0
  42. 3.73183485552 0.0 -0.0      0.0 8.81239525796e-16 0.0 -1.0
  43. 7.46189780804 0.0 0.0808998079489      0.0 0.0328430221811 0.0 -0.999460522429
  45. 7.46189780804 0.0 0.0808998079489      0.0 0.0328430221811 0.0 -0.999460522429
  46. 11.1673581231 0.0 0.510627285921      0.0 0.082512809989 0.0 -0.996590004058
  48. 11.1673581231 0.0 0.510627285921      0.0 0.082512809989 0.0 -0.996590004058
  49. 14.8117912976 0.0 1.3063713959      0.0 0.131978351553 0.0 -0.991252598847
  51. 14.8117912976 0.0 1.3063713959      0.0 0.131978351553 0.0 -0.991252598847
  52. 18.3591349964 0.0 2.46025810387      0.0 0.181117203448 0.0 -0.983461518624
  54. 18.3591349964 0.0 2.46025810387      0.0 0.181117203448 0.0 -0.983461518624
  55. 21.7742876025 0.0 3.96086948906      0 0.229807730913 0.0 -0.973236048866
  57. 21.7742876025 0.0 3.96086948906     0.0 0.229807730913 0.0 -0.973236048866
  58. 25.023455554 0.0 5.79335672641      0.0 0.277929408937 0.0 -0.960601500961
  60. 25.023455554 0.0 5.79335672641      0.0 0.277929408937 0.0 -0.960601500961
  61. 28.0744877376 0.0 7.93958701836      0.0 0.325363120597 0.0 -0.945589149555
  63. 28.0744877376 0.0 7.93958701836      0.0 0.325363120597 0.0 -0.945589149555
  64. 30.8971936301 0.0 10.3783230223      0.0 0.371991451914 0.0 -0.928236155137
  66. 30.8971936301 0.0 10.3783230223      0.0 0.371991451914 0.0 -0.928236155137
  67. 33.4636420384 0.0 13.0854329977      0.0 0.417698982486 0.0 -0.908585472055
  69. 33.4636420384 0.0 13.0854329977      0.0 0.417698982486 0.0 -0.908585472055
  70. 35.7484374846 0.0 16.0341295947      0.0 0.462372571198 0.0 -0.88668574219
  72. 35.7484374846 0.0 16.0341295947      0.0 0.462372571198 0.0 -0.88668574219
  73. 37.7289714983 0.0 19.1952349192      0.0 0.505901636279 0.0 -0.862591174549
  75. 37.7289714983 0.0 19.1952349192      0.0 0.505901636279 0.0 -0.862591174549
  76. 39.385646332 0.0 22.5374692539      0.0 0.548178429028 0.0 -0.836361411083
  78. 39.385646332 0.0 22.5374692539      0.0 0.548178429028 0.0 -0.836361411083
  79. 40.7020688841 0.0 26.0277605764      0.0 0.589098300528 0.0 -0.808061379051
  81. 40.7020688841 0.0 26.0277605764      0.0 0.589098300528 0.0 -0.808061379051
  82. 41.6652129119 0.0 29.6315718137      0.0 0.62855996069 0.0 -0.777761130308
  84. 41.6652129119 0.0 29.6315718137      0.0 0.62855996069 0.0 -0.777761130308
  85. 42.2655479284 0.0 33.313242592      0.0 0.666465728971 0.0 -0.745535667897
  87. 42.2655479284 0.0 33.313242592      0.0 0.666465728971 0.0 -0.745535667897
  88. 42.4971335085 0.0 37.0363421033      0.0 0.702721776175 0.0 -0.711464760399
  90. 42.4971335085 0.0 37.0363421033      0.0 0.702721776175 0.0 -0.711464760399
  91. 42.5 0.0 40.7681651445      0.0 0.707106781187 0.0 -0.707106781187
  93. 42.5 0.0 40.7681651445      0.0 0.707106781187 0.0 -0.707106781187
  94. 42.5 0.0 44.5      0.0 0.707106781187 0.0 -0.707106781187
  95.            " />
  96.             <RigidRigidMapping repartition="2"  globalToLocalCoords="1" />    
  97.         </Node>
  98.     </Node>
  99.  
  100.  
  101.  
  102.  
  103.  
  104.  
  105.  
  106.     <Node    name="without_rigidrigdmapping"   >
  107.         <MechanicalObject template="Rigid3d" name="DOFs"    showObject="1" showObjectScale="2"  translation="0 20 0" rotation="0 0 0" position=
  108.         "
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  110. 3.73183485552 2.0 -0.0               0.0 8.81239525796e-16 0.0 -1.0
  111. 7.46189780804 2.0 0.0808998079489    0.0 0.0328430221811 0.0 -0.999460522429
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  113. 14.8117912976 2.0 1.3063713959       0.0 0.131978351553 0.0 -0.991252598847
  114. 18.3591349964 2.0 2.46025810387      0.0 0.181117203448 0.0 -0.983461518624
  115. 21.7742876025 2.0 3.96086948906      0.0 0.229807730913 0.0 -0.973236048866
  116. 25.023455554 2.0 5.79335672641       0.0 0.277929408937 0.0 -0.960601500961
  117. 28.0744877376 2.0 7.93958701836      0.0 0.325363120597 0.0 -0.945589149555
  118. 30.8971936301 2.0 10.3783230223      0.0 0.371991451914 0.0 -0.928236155137
  119. 33.4636420384 2.0 13.0854329977      0.0 0.417698982486 0.0 -0.908585472055
  120. 35.7484374846 2.0 16.0341295947      0.0 0.462372571198 0.0 -0.88668574219
  121. 37.7289714983 2.0 19.1952349192      0.0 0.505901636279 0.0 -0.862591174549
  122. 39.385646332 2.0 22.5374692539       0.0 0.548178429028 0.0 -0.836361411083
  123. 40.7020688841 2.0 26.0277605764      0.0 0.589098300528 0.0 -0.808061379051
  124. 41.6652129119 2.0 29.6315718137      0.0 0.62855996069 0.0 -0.777761130308
  125. 42.2655479284 2.0 33.313242592       0.0 0.666465728971 0.0 -0.745535667897
  126. 42.4971335085 2.0 37.0363421033      0.0 0.702721776175 0.0 -0.711464760399
  127. 42.5 2.0 40.7681651445      0.0 0.707106781187 0.0 -0.707106781187
  129.        " />
  130.         <FixedConstraint template="Rigid3d" name="fixOriginPosition"  indices="0 1" />
  131.         <Node name="segmentsNode" >
  132.             <MechanicalObject template="Rigid3d" name="attaches" showObject="1" showObjectScale="1"  translation="0 20 0" rotation="0 0 0"  position="
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  136. 3.73183485552 0.0 -0.0      0.0 8.81239525796e-16 0.0 -1.0
  137. 7.46189780804 0.0 0.0808998079489      0.0 0.0328430221811 0.0 -0.999460522429
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  184. 42.4971335085 0.0 37.0363421033      0.0 0.702721776175 0.0 -0.711464760399
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  189.            " />            
  190.         </Node>
  191.     </Node>
  192.  
  193.  
  194.     </Node>
  195. </Node>
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