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[Constraint] Make name of constraints more explicit #4302

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merged 35 commits into from
Dec 20, 2023
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a50701b
Added projective and lagrangian suffix
bakpaul Nov 17, 2023
6502243
Reported changes to Cuda plugin
bakpaul Nov 21, 2023
5252432
Modify rest of the code to avoid warning from compatibility layer
bakpaul Nov 21, 2023
c315181
Add compatibility layer for deprecated header in CUDA
bakpaul Nov 21, 2023
39b00dd
add alias for compatibility layer in scene construction
bakpaul Nov 21, 2023
42fe9f6
Report name modification to all scenes
bakpaul Nov 21, 2023
b9d94ea
Revert Compat modification...
bakpaul Nov 21, 2023
d689871
[LinearAlgera, Core] Fix linking with LTO on MacOS/Clang (#4293)
fredroy Nov 22, 2023
32d6b98
[LinearSolver] Remove CSparse-based linear solvers (#4258)
alxbilger Nov 23, 2023
af57258
[GUI.Qt] Minor single-line cleaning (#4308)
alxbilger Nov 24, 2023
0e7ccbe
[Sofa.GUI.Qt] Add cmake module for QGLViewer (#4290)
olivier-roussel Nov 29, 2023
620bc51
[MultiThreading] Avoid Static Initialization Order Fiasco (#4307)
alxbilger Nov 29, 2023
7f4fdef
[Core] Minor clean of DefaultAnimationLoop (#4314)
bakpaul Nov 29, 2023
c2af338
[LinearSystem] Speedup computation of Jacobian matrices (#4317)
alxbilger Nov 29, 2023
7811db5
[SofaCUDA] FIX compilation SofaCUDA along with SparseGrid with Cuda12…
bakpaul Nov 29, 2023
13e9031
[Common] Add message to make the fetch mechanism less hidden (#4310)
bakpaul Nov 29, 2023
d696114
[Collections] Remove reference to non-existing SofaSimulation (#4320)
fredroy Nov 29, 2023
109e4ee
Remove repeating preffix from projective constraints
bakpaul Nov 29, 2023
e43420d
Moved alias to original header
bakpaul Nov 29, 2023
9a2a1d0
Changed deprecation date
bakpaul Nov 29, 2023
e9dc62a
add component change entry
bakpaul Nov 29, 2023
1964cca
Merge branch 'master' into change_naming_of_constraints
bakpaul Nov 29, 2023
82196ac
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 1, 2023
ab74bab
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 11, 2023
78a1cb3
Change name following discussion with Hugo
bakpaul Dec 11, 2023
6aa6ee1
Change remaining scene with FixedConstraint
bakpaul Dec 11, 2023
43b6294
remove last occurences in py files
bakpaul Dec 12, 2023
2e08675
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 12, 2023
736602f
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 18, 2023
e4b68d6
Changed the message display of sceneCheckUsingAlias when aliased comp…
bakpaul Nov 29, 2023
181eb9a
Fix factory
bakpaul Nov 29, 2023
d0dc32e
Add alias creation when object in componentRenamed in factory
bakpaul Dec 18, 2023
9f8fe2e
Remove precedently added aliases
bakpaul Dec 18, 2023
e7a685c
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 20, 2023
7d1fd86
Merge branch 'master' into change_naming_of_constraints
bakpaul Dec 20, 2023
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Report name modification to all scenes
bakpaul committed Nov 21, 2023

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commit 42fe9f667dfdf797e9fc2173aee51efd4a4a95eb
Original file line number Diff line number Diff line change
@@ -33,5 +33,5 @@
<RigidMapping />
</Node>
</Node>
<BilateralInteractionConstraint template="Vec3d" object1="@CUBE_0/Constraints/points" object2="@CUBE_1/Constraints/points" first_point="0" second_point="0" />
<BilateralInteractionLagrangianConstraint template="Vec3d" object1="@CUBE_0/Constraints/points" object2="@CUBE_1/Constraints/points" first_point="0" second_point="0" />
</Node>
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<Node name="root" dt="0.0001" gravity="0 0 0" >
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint LinearMovementConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint LinearMovementProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Diffusion"/> <!-- Needed to use components [TetrahedronDiffusionFEMForceField] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
@@ -36,8 +36,8 @@
<MechanicalObject template="Vec1d" position="@../../temperatureLoader.position" name="gridTemperature" bbox="0 0 0 0 0 0" tags="heat" />
<TetrahedronDiffusionFEMForceField template="Vec1d" name="DiffusionForceField" constantDiffusionCoefficient="1.0" tagMechanics="geom" tags="heat" topology="@../Container"/>
<DiagonalMass template="Vec1d,Vec3d" name="Mass" massDensity="1.0" tags="heat" topology="@../Container" geometryState="@../../gridDOFs" />
<LinearMovementConstraint template="Vec1d" keyTimes="0 998 999" movements="1 1 0" indices="@../../box-dirac.indices" />
<FixedConstraint indices="@../../box-fixed.indices" />
<LinearMovementProjectiveConstraint template="Vec1d" keyTimes="0 998 999" movements="1 1 0" indices="@../../box-dirac.indices" />
<FixedProjectiveConstraint indices="@../../box-fixed.indices" />
</Node>
</Node>
</Node>
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 -10 0" dt="0.1" time="0" animate="0" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
@@ -14,7 +14,7 @@

<Node name="fixedPointNode" >
<MechanicalObject template="Vec3d" name="fixedPoint" position="0 2 0" velocity="0 0 0" force="0 0 0" externalForce="0 0 0" restScale="1" showObject="1" showObjectScale="5" showIndices="1" showIndicesScale="0.0001" />
<FixedConstraint template="Vec3d" name="fixedConstraint" indices="0" />
<FixedProjectiveConstraint template="Vec3d" name="FixedProjectiveConstraint" indices="0" />
</Node>

<Node name="MassNode" >
Original file line number Diff line number Diff line change
@@ -3,7 +3,7 @@
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase BruteForceBroadPhase CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [DiscreteIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
@@ -27,7 +27,7 @@
<TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />

<DiagonalMass name="computed using mass density" massDensity="1" />
<FixedConstraint name="FixedConstraint" indices="3 39 64" />
<FixedProjectiveConstraint name="FixedProjectiveConstraint" indices="3 39 64" />

<!-- TetrahedronHyperelasticityFEMForceField will be added by the test-->

Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<Node name="root" dt="0.02" showBoundingTree="0">
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [SphereCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshVTKLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
@@ -24,7 +24,7 @@
<MeshMatrixMass name="mass" lumping="1" printMass="0" massDensity="965" />

<BoxROI box="-0.05 -0.05 -0.002 0.15 0.05 0.0" drawBoxes="1" name="fixedBox1"/>
<FixedConstraint indices="@fixedBox1.indices"/>
<FixedProjectiveConstraint indices="@fixedBox1.indices"/>

<TetrahedronHyperelasticityFEMForceField name="FEM" materialName="MooneyRivlin" ParameterSet="151065.460 101709.668 1e07"/>
</Node>
Original file line number Diff line number Diff line change
@@ -14,7 +14,7 @@ def createGraph(self,node):
rigidNode = self.rootNode.createChild('rigid')
rigidNode.createObject('MechanicalObject', template='Rigid', name='dofs', position="0 0 0 0 0 0 1", showObject='1', showObjectScale='0.8')
rigidNode.createObject('UniformMass', template='Rigid', totalMass="1")
rigidNode.createObject('PartialFixedConstraint',indices="0",fixedDirections="1 1 1 0 0 0")
rigidNode.createObject('PartialFixedProjectiveConstraint',indices="0",fixedDirections="1 1 1 0 0 0")

rigidCollisionNode = rigidNode.createChild('rigid')
rigidCollisionNode.createObject('MeshOBJLoader', filename="mesh/cube.obj", name="loader")
2 changes: 1 addition & 1 deletion applications/plugins/Sensable/examples/Carving.scn
Original file line number Diff line number Diff line change
@@ -21,7 +21,7 @@
<MechanicalObject src="@loader" name="Volume" />
<include href="Objects/TetrahedronSetTopology.xml" src="@loader" />
<DiagonalMass massDensity="0.5" />
<FixedPlaneConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
<FixedPlaneProjectiveConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
<FixedConstraint indices="0" />
<TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="360" poissonRatio="0.3" method="large" />
<Node name="T">
Original file line number Diff line number Diff line change
@@ -17,7 +17,7 @@
<MechanicalObject src="@loader" name="Volume" />
<include href="Objects/TetrahedronSetTopology.xml" src="@loader" />
<DiagonalMass massDensity="0.5" />
<FixedPlaneConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
<FixedPlaneProjectiveConstraint direction="0 0 1" dmin="-0.1" dmax="0.1" />
<FixedConstraint indices="0" />
<TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="360" poissonRatio="0.3" method="large" />
<Node name="T">
4 changes: 2 additions & 2 deletions applications/plugins/SofaAssimp/doc/index.html
Original file line number Diff line number Diff line change
@@ -131,11 +131,11 @@ <h2><a name="Examples"></a>Examples</h2>
<br />
<br />
&nbsp; &nbsp; &nbsp; As you can see in Sofa Modeler, the scene to load a collada file is very simple. We have the SceneColladaLoader to load it and, important thing, we also have an EulerSolver
which will be used by the potential SkeletalMotionConstraints to "play" the animation updating positions and velocities.
which will be used by the potential SkeletalMotionProjectiveConstraints to "play" the animation updating positions and velocities.
When you launch runSofa with this scene, a new node will be added which contains the whole collada scene. The name of this node is the name you gave to the
SceneColladaLoader plus the string "_scene". On the right picture, the loader generated two child nodes call "mesh 0" which contains a mesh without skinning (the sphere), and
"mesh 1" which contains a mesh with skinning and bones animation directly from the collada file.
The SkeletalMotionConstraint automatically interpolates between animation frames, play with the animation time step to slown down or speed up the animation.
The SkeletalMotionProjectiveConstraint automatically interpolates between animation frames, play with the animation time step to slown down or speed up the animation.
<br />
<br />
As you can see on the other example below, the woman's hair does not fit her head very well because its coordinates system belongs to a dummy object not supported for the moment.
4 changes: 2 additions & 2 deletions applications/plugins/SofaCarving/examples/CarvingTool.scn
Original file line number Diff line number Diff line change
@@ -5,7 +5,7 @@
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [PointCollisionModel, TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint, LinearMovementConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint, LinearMovementProjectiveConstraint] -->
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<RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader, MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
@@ -66,7 +66,7 @@

<MechanicalObject template="Rigid3d" name="instrumentState" tags="Omni" rotation="90 45 0" translation="0 0 1"/>
<UniformMass template="Rigid3d" name="mass" totalMass="0.05" />
<LinearMovementConstraint template="Rigid3d" keyTimes="0 2" movements="0 0 0 0 0 0
<LinearMovementProjectiveConstraint template="Rigid3d" keyTimes="0 2" movements="0 0 0 0 0 0
0 0 0 0 0 0" />
<Node name="VisualModel" >
<MeshOBJLoader name="meshLoader_0" filename="mesh/dental_instrument_light.obj" scale3d="1 1 1" translation="-0.412256 -0.067639 3.35" rotation="180 0 150" handleSeams="1" />
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<Node name="Root" gravity="0 -10 0" time="0" animate="0" dt="0.01" >
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [GenericConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [UniformConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [UniformLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
@@ -35,7 +35,7 @@
<Node name="extensionsNode" >
<MechanicalObject template="Vec1d" name="extensionsDOF" />
<DistanceMapping name="distanceMapping" />
<UniformConstraint template="Vec1d" iterative="false" />
<UniformLagrangianConstraint template="Vec1d" iterative="false" />
</Node>

</Node>
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<Node name="Root" gravity="0 -10 0" time="0" animate="0" dt="0.01" >
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [GenericConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [UniformConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [UniformLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Engine.Transform"/> <!-- Needed to use components [TransformEngine] -->
@@ -35,7 +35,7 @@
<Node name="extensionsNode" >
<MechanicalObject template="Vec1d" name="extensionsDOF" />
<DistanceMapping name="distanceMapping" />
<UniformConstraint template="Vec1d" iterative="false" />
<UniformLagrangianConstraint template="Vec1d" iterative="false" />
</Node>

</Node>
4 changes: 2 additions & 2 deletions applications/plugins/SofaTest/SofaTest_test/scenes/damping.py
Original file line number Diff line number Diff line change
@@ -120,7 +120,7 @@ def createScene(node):
angularNode.createObject('MechanicalObject', template="Rigid", name="dofs", position="0 0 0 0 0 0 1", velocity="0 0 0 "+str(INITIAL_VELOCITY)+" 0 0")
angularNode.createObject('UniformMass', filename=rigidFilename)
angularNode.createObject('UniformVelocityDampingForceField', dampingCoefficient=DAMPING_COEF)
#angularNode.createObject('PartialFixedConstraint', indices='0', fixedDirections="1 1 1 0 1 1")
#angularNode.createObject('PartialFixedProjectiveConstraint', indices='0', fixedDirections="1 1 1 0 1 1")


# translation damping test
@@ -130,7 +130,7 @@ def createScene(node):
translationNode.createObject('MechanicalObject', template="Rigid", name="dofs", position="0 0 0 0 0 0 1", velocity=str(INITIAL_VELOCITY)+" 0 0 0 0 0")
translationNode.createObject('UniformMass', filename=rigidFilename)
translationNode.createObject('UniformVelocityDampingForceField', dampingCoefficient=DAMPING_COEF)
#translationNode.createObject('PartialFixedConstraint', indices='0', fixedDirections="0 1 1 1 1 1")
#translationNode.createObject('PartialFixedProjectiveConstraint', indices='0', fixedDirections="0 1 1 1 1 1")


return node
8 changes: 4 additions & 4 deletions examples/Benchmark/Accuracy/TriangleFEMForceField_compare.scn
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>
<Node name="root" dt="0.01" gravity="0 10 0">
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [CollisionPipeline] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
@@ -30,7 +30,7 @@

<MechanicalObject name="TriangularFEMForceField_dof" />
<DiagonalMass totalMass="1.0" />
<FixedConstraint indices="0 39" />
<FixedProjectiveConstraint indices="0 39" />

<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
@@ -59,7 +59,7 @@

<MechanicalObject name="TriangularFEMForceFieldOptim_dof" />
<DiagonalMass totalMass="1.0" />
<FixedConstraint indices="0 39" />
<FixedProjectiveConstraint indices="0 39" />

<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
@@ -88,7 +88,7 @@

<MechanicalObject name="TriangleFEMForceField_dof" />
<DiagonalMass totalMass="1.0" />
<FixedConstraint indices="0 39" />
<FixedProjectiveConstraint indices="0 39" />

<Node name="T">
<TriangleSetTopologyContainer name="Triangle_topo" />
4 changes: 2 additions & 2 deletions examples/Benchmark/Accuracy/cylinder_PhantomSolution.scn
Original file line number Diff line number Diff line change
@@ -5,7 +5,7 @@

<Node name="root" dt="1">
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
@@ -29,7 +29,7 @@
</Node>
<Node name="EndPoint">
<MechanicalObject position="0.0 -0.119383 0.126842" />
<FixedConstraint indices="0" />
<FixedProjectiveConstraint indices="0" />
</Node>
</Node>
</Node>
Original file line number Diff line number Diff line change
@@ -15,7 +15,7 @@
/> -->
<?php echo '<RegularGrid
nx="16" ny="16" nz="'.(5*$size+1).'" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="'.$size.'" />'."\n"; ?>
<FixedConstraint indices="0-255" />
<FixedProjectiveConstraint indices="0-255" />
<TetrahedronFEMForceField name="FEM" youngModulus="24000" poissonRatio="0.3" method="large" />
</Node>
</Node>
4 changes: 2 additions & 2 deletions examples/Benchmark/Performance/Bar16-fem-implicit-Vec3d.pscn
Original file line number Diff line number Diff line change
@@ -2,7 +2,7 @@

<Node name="root" dt="0.04">
<VisualStyle displayFlags="showBehaviorModels hideCollisionModels hideMappings showForceFields" />
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
<RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
@@ -27,7 +27,7 @@
/> -->
<?php echo '<RegularGridTopology
nx="16" ny="16" nz="'.(5*$size+1).'" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="'.$size.'" />'."\n"; ?>
<FixedConstraint indices="0-255" />
<FixedProjectiveConstraint indices="0-255" />
<TetrahedronFEMForceField name="FEM" youngModulus="24000" poissonRatio="0.3" method="large" />
</Node>
</Node>
Original file line number Diff line number Diff line change
@@ -15,7 +15,7 @@
/> -->
<?php echo '<RegularGrid
nx="16" ny="16" nz="'.(5*$size+1).'" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="'.$size.'" />'."\n"; ?>
<FixedConstraint indices="0-255" />
<FixedProjectiveConstraint indices="0-255" />
<TetrahedronFEMForceField name="FEM" youngModulus="24000" poissonRatio="0.3" method="large" />
</Node>
</Node>
Original file line number Diff line number Diff line change
@@ -15,7 +15,7 @@
/> -->
<?php echo '<RegularGrid
nx="16" ny="16" nz="'.(5*$size+1).'" xmin="0" xmax="3" ymin="0" ymax="3" zmin="0" zmax="'.$size.'" />'."\n"; ?>
<FixedConstraint indices="0-255" />
<FixedProjectiveConstraint indices="0-255" />
<!-- <TetrahedronFEMForceField name="FEM" youngModulus="24000" poissonRatio="0.3" method="large" />-->
<MeshSpringForceField stiffness="1000" />
</Node>
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