sofa-data 1.0~beta4-11 / usr / share / sofa / examples / Demos / Dentistry / dentalSurgeryDistanceGrid_teeth.scn

This file is indexed.

/usr/share/sofa/examples/Demos/Dentistry/dentalSurgeryDistanceGrid_teeth.scn is in sofa-data 1.0~beta4-11.

This file is owned by root:root, with mode 0o644.

The actual contents of the file can be viewed below. 

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<!-- 
 + Added a driver for the Omni phantom device 
 + Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation 
 + Added a computation of the haptic forces 
-->

<Node name="root" dt="0.001" gravity="10 0 0" showBehaviorModels="0" showCollisionModels="0" showMappings="0" showForceFields="0" >

   <Object type="OmniDriver" scale="0.1" orientation="-90 0 90" position="0 -4 0"/>
		 
	<Object type="CollisionPipeline" name="pipeline" depth="6" verbose="0"/>
	<Object type="BruteForceDetection" name="detection" />
	<Object type="CollisionResponse" name="response" response="default" />
	<Object type="MinProximityIntersection" name="proximity" alarmDistance="0.03" contactDistance="0.03" />
	
	<Node name="Tooth" >
		<Node name="VisualModel" >
			<Object type="OglModel" name="TeethVisualModel" fileMesh="data/mesh/teeth.obj" color="white" />
			<Object type="OglModel" name="ToothVisualModel" fileMesh="data/mesh/tooth-closed.obj" color="red" />
			<Object type="OglModel" name="ToothVisualModel" fileMesh="data/mesh/tooth-closed.obj" color="red" dy="-0.3" dz="-2"/>
			<Object type="OglModel" name="ToothVisualModel" fileMesh="data/mesh/tooth-closed.obj" color="red" dy="-8" dz="0.5"/>
			<Object type="OglModel" name="ToothVisualModel" fileMesh="data/mesh/tooth-closed.obj" color="red" dy="-8" dz="-1.5"/>
		</Node>
		<Node name="CollisionModel" >
			<Node>
				<Object type="MechanicalObject"  template="Rigid"/>
				<Object type="DistanceGrid" fileRigidDistanceGrid="data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
			</Node>
			<Node>
				<Object type="MechanicalObject"  template="Rigid" dy="-0.3" dz="-2"/>
				<Object type="DistanceGrid" fileRigidDistanceGrid="data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
			</Node>
			<Node>
				<Object type="MechanicalObject"  template="Rigid" dy="-8" dz="0.5"/>
				<Object type="DistanceGrid" fileRigidDistanceGrid="data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
			</Node>
			<Node>
				<Object type="MechanicalObject"  template="Rigid" dy="-8" dz="-1.5"/>
				<Object type="DistanceGrid" fileRigidDistanceGrid="data/mesh/tooth-128.fmesh" scale="1.0" usePoints="0" proximity="0.0" contactStiffness="50.0" contactFriction="0.0"/>
			</Node>
		</Node>
	</Node>
	
	<!-- ADDED: the Mechanical state Controller gathers events from the Omni driver and populates the Mechanical state -->
	<Node name="Omni">
		<Object type="MechanicalObject" template="Rigid" name="DOFs" position="0 -4 0  0 0 0 1"/>
		<Object type="MechanicalStateController" template="Rigid" listening="true"  mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
		<Node name="VisuAvatar">
			<Object type="OglModel" name="Visual" fileMesh="mesh/sphere.obj" color="gray" scale="0.1" />
			<Object type="RigidMapping" object1="../.." object2="Visual" index="0"/>
		</Node>
		<Node name="RefModel">
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh"  />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3" />
			<Object type="RigidMapping" />
		</Node>
		<Node name="RefModelRight" >
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh" name="InstrumentCollisionModel"  />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3" dy="0.5"/>
			<Object type="RigidMapping" />
		</Node>
		<Node name="RefModelLeft" >
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh" name="InstrumentCollisionModel"  />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3" dy="-0.5"/>
			<Object type="RigidMapping" />
		</Node>
	</Node>
 
 
	<Node name="Instrument" >
		<Object type="EulerImplicitSolver" name="ODE solver" rayleighStiffness="0.01" rayleighMass="1.0" />
		<Object type="CGLinearSolver" name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" /> 
		<Object type="MechanicalObject" name="instrumentState" template="Rigid" position="0 -4 0  0 0 0 1"/>
		<Object type="UniformMass" name="mass" totalmass="0.05" />
		<Object type="EnslavementForceFeedback" activate="true" stiffness="3.0"/> <!-- ADDED : Compute a force-feedback for the device -->
		<Node name="VisualModel" >
			<Object type="OglModel" name="InstrumentVisualModel" fileMesh="data/mesh/dental_instrument.obj" color="1.0 0.2 0.2 1.0" dz="-3.5" dx="0.3" />
			<Object type="RigidMapping" name="MM->VM mapping" object1="instrumentState" object2="InstrumentVisualModel" />
		</Node>
		<Node name="CollisionModel" >
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh" name="InstrumentCollisionModel"  />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3"/>
			<Object type="Line" name="instrument" contactStiffness="10" />
			<Object type="Point" name="instrument" contactStiffness="10" /> 
			<Object type="RigidMapping" name="MM->CM mapping" object1="instrumentState" object2="instrumentCollisionState" />
		</Node>
		<Node name="RefModelRight" >
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh" name="InstrumentCollisionModel" />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3" dy="0.5"/>
			<Object type="RigidMapping" name="MM->CM mapping" object1="instrumentState" object2="instrumentCollisionState" />
		</Node>
		<Node name="RefModelLeft" >
			<Object type="MeshLoader" filename="data/mesh/dental_instrument_centerline.obj" />
			<Object type="Mesh" name="InstrumentCollisionModel"  />
			<Object type="MechanicalObject" name="instrumentCollisionState" dz="-3.5" dx="0.3" dy="-0.5" />
			<Object type="RigidMapping" name="MM->CM mapping" object1="instrumentState" object2="instrumentCollisionState" />
		</Node>
       
		<Object type="VectorSpringForceField"  object1="Omni/RefModel/instrumentCollisionState" object2="Instrument/CollisionModel/instrumentCollisionState" stiffness="30" viscosity="0" />
		<Object type="VectorSpringForceField"  object1="Omni/RefModelRight/instrumentCollisionState" object2="Instrument/RefModelRight/instrumentCollisionState" stiffness="30" viscosity="0" />
		<Object type="VectorSpringForceField"  object1="Omni/RefModelLeft/instrumentCollisionState" object2="Instrument/RefModelLeft/instrumentCollisionState" stiffness="30" viscosity="0" />
	</Node> 

</Node>

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