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- <?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>
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