/usr/share/sofa/examples/Tutorials/Basic/TutorialCollisionCubes.scn is in sofa-data 1.0~beta4-11.
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<!-- See http://wiki.sofa-framework.org/wiki/TutorialCollisionCubeObstacle.scn -->
<Node name="root" dt="0.01" gravity="0 -9.81 0" showBehavior="1" showCollision="1">
<!-- Basic Components to perform the collision detection -->
<CollisionPipeline/>
<BruteForceDetection/>
<DefaultContactManager/>
<MinProximityIntersection/>
<!-- Using a deformable cube using collision spheres -->
<Node name="Cube1">
<EulerImplicitSolver name="EulerImplicit Cube1" />
<CGLinearSolver name="CG Solver Cube1" />
<MechanicalObject name="Particles Cube1" template="Vec3d"
position="0 0 1 1 0 1 0 1 1 1 1 1 0 0 2 1 0 2 0 1 2 1 1 2"
translation="0.5 2 0"/>
<MeshTopology name="Topology Cube1" hexas="0 4 6 2 1 5 7 3" />
<UniformMass name="Mass Cube1" totalmass="1" />
<MeshSpringForceField name="Springs Cube1" stiffness="100" damping="1" />
<!-- Collision Models -->
<SphereModel name="Spheres For Collision Cube1" radius="0.2"/>
</Node>
<!-- Using a deformable cube using collision triangles, lines and points -->
<Node name="Cube2">
<EulerImplicitSolver name="EulerImplicit Cube2" />
<CGLinearSolver name="CG Solver Cube2" />
<MechanicalObject name="Particles Cube2" template="Vec3d"
position="0 0 1 1 0 1 0 1 1 1 1 1 0 0 2 1 0 2 0 1 2 1 1 2" />
<MeshTopology name="Topology Cube2" hexas="0 4 6 2 1 5 7 3" />
<UniformMass name="Mass Cube2" totalmass="1" />
<MeshSpringForceField name="Springs Cube2" stiffness="15" damping="1" />
<!-- Collision Models -->
<TriangleModel name="Triangles For Collision"/>
<LineModel name="Lines For Collision"/>
<PointModel name="Points For Collision"/>
</Node>
<Node name="Floor">
<MeshTopology name="Topology Floor" filename="mesh/floor.obj"/>
<MechanicalObject name="Particles Floor"/>
<TriangleModel name="Triangle For Collision Floor" moving="0" simulated="0"/>
</Node>
</Node>
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