/usr/share/sofa/examples/Tutorials/Basic/TutorialCollisionUncoupledConstraints.scn is in sofa-data 1.0~beta4-11.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | <?xml version="1.0" ?>
<!-- See http://wiki.sofa-framework.org/wiki/TutorialCollisionUncoupledConstraints -->
<Node name="root" dt="0.01" gravity="0 -9.81 0" showBehavior="1" showCollision="1">
<!-- Basic Components to perform the collision detection -->
<MasterConstraintSolver name="MasterContactSolver"/>
<CollisionPipeline name="CollisionPipeline"/>
<BruteForceDetection name="BruteForceDetection"/>
<LocalMinDistance name="Proximity" alarmDistance="0.2" contactDistance="0.09" angleCone="0.0"/>
<CollisionResponse name="Response" response="FrictionContact"/>
<CollisionGroup/>
<!-- Using a rigid cube using collision triangles, lines and points -->
<Node name="Cube">
<EulerImplicit name="EulerImplicit" />
<CGLinearSolver name="CG Solver" />
<MechanicalObject name="Cube RigidDOF" template="Rigid" dy="2"/>
<UniformMass name="UniformMass" totalmass="10.0"/>
<UncoupledConstraintCorrection/>
<Node name="Visual Model">
<OglModel name="Visual Cube" filename="mesh/cube.obj" color="1 1 0 1.0"/>
<RigidMapping name="RigidMapping Visual-RigidDOF" object1="../../Cube RigidDOF" object2="Visual Cube" />
</Node>
<Node name="Collision Model">
<Mesh name="Cube Mesh" filename="mesh/cube.obj"/>
<MechanicalObject name="Collision Cube"/>
<!-- Collision Models -->
<Triangle name="Cube Triangle For Collision"/>
<Line name="Cube Edge For Collision"/>
<Point name="Cube Point For Collision"/>
<RigidMapping name="RigidMapping Collision-RigidDOF" object1="../../Cube RigidDOF" object2="Collision Cube" />
</Node>
</Node>
<Node name="Floor">
<MeshTopology name="Topology Floor" filename="mesh/floor.obj"/>
<MechanicalObject name="Floor Particles"/>
<!-- Collision Models -->
<Triangle name="Floor Triangle For Collision" moving="0" simulated="0"/>
</Node>
</Node>
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