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apply changes to scenes
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@bakpaul
bakpaul committed Dec 10, 2024
1 parent 937acc8 commit 0754eb8
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Showing 22 changed files with 35 additions and 35 deletions.
2 changes: 1 addition & 1 deletion applications/plugins/ArticulatedSystemPlugin/examples/ArticulatedArm/robot.py
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Expand Up @@ -88,7 +88,7 @@ def addRobot(self, name='Robot', translation=[0,0,0]):
articulations.addObject('MechanicalObject', name='dofs', template='Vec1', rest_position=robot.getData('angles').getLinkPath(), position=initAngles)
articulations.addObject('ArticulatedHierarchyContainer')
articulations.addObject('UniformMass', totalMass=1)
articulations.addObject('RestShapeSpringsForceField', stiffness=1e10, points=list(range(6)))
articulations.addObject('RestShapeSpringsForceField', stiffness=1e10, indices=list(range(6)))

# Rigid
rigid = articulations.addChild('Rigid')
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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/Geomagic-DeformableCubes.scn
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Expand Up @@ -126,7 +126,7 @@
<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
<UniformMass name="mass" totalMass="1" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="0.2"/>
<LinearSolverConstraintCorrection />

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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/Geomagic-DeformableSphere.scn
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Expand Up @@ -105,7 +105,7 @@
<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" />
<UniformMass name="mass" totalMass="1" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="0.0001"/>
<LinearSolverConstraintCorrection />

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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/Geomagic-RigidCubes.scn
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Expand Up @@ -88,7 +88,7 @@
<MechanicalObject name="instrumentState" template="Rigid3" />
<UniformMass name="mass" totalMass="0.5" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="0.0001"/>
<LinearSolverConstraintCorrection />

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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/Geomagic-RigidSkull-restShapeSpringForceField.scn
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Expand Up @@ -59,7 +59,7 @@
<MechanicalObject name="instrumentState" template="Rigid3d" />
<UniformMass name="mass" totalMass="0.01" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0' />
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0' />
<LCPForceFeedback activate="true" forceCoef="0.00005"/> <!-- ADDED : Compute a force-feedback for the device -->
<LinearSolverConstraintCorrection/>

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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/Geomagic-RigidSphere.scn
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Expand Up @@ -76,7 +76,7 @@
<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" />
<UniformMass name="mass" totalMass="1" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="0.0001"/>
<LinearSolverConstraintCorrection />

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2 changes: 1 addition & 1 deletion applications/plugins/Geomagic/scenes/GeomagicEmulator-RigidCubes.scn
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Expand Up @@ -88,7 +88,7 @@
<MechanicalObject name="instrumentState" template="Rigid3" />
<UniformMass name="mass" totalMass="0.5" />

<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' points='0' external_points='0'/>
<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../Omni/DOFs' indices='0' externalIndices='0'/>
<LCPForceFeedback name="LCPFF1" activate="true" forceCoef="1.0"/>
<UncoupledConstraintCorrection/>

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4 changes: 2 additions & 2 deletions applications/plugins/PersistentContact/examples/instrument.xml
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Expand Up @@ -5,12 +5,12 @@

<Node name="Trocar">
<MechanicalObject name="MO" template="Rigid3d" position="5 0 -7 0 0 0 1"/>
<RestShapeSpringsForceField points="0" stiffness="1e4" angularStiffness="1e9"/>
<RestShapeSpringsForceField indices="0" stiffness="1e4" angularStiffness="1e9"/>
<UncoupledConstraintCorrection compliance="1e-4 1e-9 0 0 1e-9 0 1e-9"/>

<Node name="Articulations Description">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0.3 0.3" rest_position="0 0 0 0 0 0"/>
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1e7 1e7 1e6 1e3 1e7 1e7"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1e7 1e7 1e6 1e3 1e7 1e7"/>
<UncoupledConstraintCorrection compliance="1e-7 1e-7 1e-6 1e-3 1e-7 1e-7"/>

<GrasperController doubleGrasper="true"/>
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4 changes: 2 additions & 2 deletions applications/plugins/PersistentContact/examples/instrument2.xml
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Expand Up @@ -5,12 +5,12 @@

<Node name="Trocar">
<MechanicalObject name="MO" template="Rigid3d" position="30 0 -7 0 0 0 1"/>
<RestShapeSpringsForceField points="0" stiffness="1e4" angularStiffness="1e9"/>
<RestShapeSpringsForceField indices="0" stiffness="1e4" angularStiffness="1e9"/>
<UncoupledConstraintCorrection compliance="1e-4 1e-9 0 0 1e-9 0 1e-9"/>

<Node name="Articulations Description">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0.3 0.3" rest_position="0 0 0 0 0 0"/>
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1e7 1e7 1e6 1e3 1e7 1e7"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1e7 1e7 1e6 1e3 1e7 1e7"/>
<UncoupledConstraintCorrection compliance="1e-7 1e-7 1e-6 1e-3 1e-7 1e-7"/>

<GrasperController doubleGrasper="true"/>
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2 changes: 1 addition & 1 deletion applications/plugins/Sensable/examples/Old Examples/omni1.scn
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Expand Up @@ -20,7 +20,7 @@
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="40" tolerance="1e-009" threshold="1e-015" />
<MechanicalObject template="Rigid3d" name="tool" position="0 0 0 -0.707107 0 0 0.707107" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" rest_position="0 0 0 0 0 0 1" restScale="1" showObjectScale="0.1" showIndicesScale="0.0001" />
<UniformMass template="Rigid3d" name="uniformMass3" totalMass="0.01" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" points="0" stiffness="1000" angularStiffness="10000" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" indices="0" stiffness="1000" angularStiffness="10000" />
<LCPForceFeedback template="Rigid3d" name="lCPForceFeedback7" listening="1" activate="1" />
<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection2" compliance="1e-005 1e-009 0 0 1e-009 0 1e-009" />
<Node name="Tool1VM" >
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2 changes: 1 addition & 1 deletion applications/plugins/Sensable/examples/Old Examples/omni2.scn
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Expand Up @@ -15,7 +15,7 @@
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="40" tolerance="1e-009" threshold="1e-015" />
<MechanicalObject template="Rigid3d" name="tool" position="0 0 0 -0.707107 0 0 0.707107 0 0 0 0 0 0 1" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1" restScale="1" showObjectScale="0.1" showIndicesScale="0.0001" />
<UniformMass template="Rigid3d" name="uniformMass3" totalMass="0.01" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" points="0 1" stiffness="1000 1000" angularStiffness="10000 10000" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" indices="0 1" stiffness="1000 1000" angularStiffness="10000 10000" />
<LCPForceFeedback template="Rigid3d" name="lCPForceFeedback7" listening="1" activate="1" />
<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection2" compliance="1e-005 1e-009 0 0 1e-009 0 1e-009" />
<Node name="Tool1VM" >
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2 changes: 1 addition & 1 deletion applications/plugins/Xitact/examples/1xitact.scn
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Expand Up @@ -14,7 +14,7 @@
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="40" tolerance="1e-009" threshold="1e-015" />
<MechanicalObject template="Rigid3d" name="tool" position="0 0 0 -0.707107 0 0 0.707107" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" rest_position="0 0 0 0 0 0 1" restScale="1" showObjectScale="0.1" showIndicesScale="0.0001" />
<UniformMass template="Rigid3d" name="uniformMass3" totalMass="0.01" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" points="0" stiffness="1000" angularStiffness="10000" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" indices="0" stiffness="1000" angularStiffness="10000" />
<LCPForceFeedback template="Rigid3d" name="lCPForceFeedback7" listening="1" />
<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection2" compliance="1e-005 1e-009 0 0 1e-009 0 1e-009" />
<Node name="Tool1VM" >
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2 changes: 1 addition & 1 deletion applications/plugins/Xitact/examples/2xitact2.scn
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Expand Up @@ -15,7 +15,7 @@
<CGLinearSolver template="GraphScattered" name="linear solver" iterations="40" tolerance="1e-009" threshold="1e-015" />
<MechanicalObject template="Rigid3d" name="tool" position="0 0 0 -0.707107 0 0 0.707107 0 0 0 0 0 0 1" velocity="0 0 0 0 0 0" force="0 0 0 0 0 0" externalForce="0 0 0 0 0 0" derivX="0 0 0 0 0 0" rest_position="0 0 0 0 0 0 1 0 0 0 0 0 0 1" restScale="1" showObjectScale="0.1" showIndicesScale="0.0001" />
<UniformMass template="Rigid3d" name="uniformMass3" totalMass="0.01" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" points="0 1" stiffness="1000 1000" angularStiffness="10000 10000" />
<RestShapeSpringsForceField template="Rigid3d" name="restShapeSpringsForceField1" indices="0 1" stiffness="1000 1000" angularStiffness="10000 10000" />
<LCPForceFeedback template="Rigid3d" name="lCPForceFeedback7" listening="1" />
<UncoupledConstraintCorrection template="Rigid3d" name="uncoupledConstraintCorrection2" compliance="1e-005 1e-009 0 0 1e-009 0 1e-009" />
<Node name="Tool1VM" >
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4 changes: 2 additions & 2 deletions applications/plugins/Xitact/examples/XitactGrasping.scn
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Expand Up @@ -85,7 +85,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000"/> <!--external_rest_shape="@toto"/>-->
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000"/> <!--external_rest_shape="@toto"/>-->
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -104,7 +104,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" listening="1" permanent="1"/>

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4 changes: 2 additions & 2 deletions applications/plugins/Xitact/examples/XitactGraspingWithForceFeedBack.scn
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Expand Up @@ -85,7 +85,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -104,7 +104,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" toolIndex="0" permanent="1"/>
<LCPForceFeedback name="ForceFeedBack" template="Vec1d" activate="1" />
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8 changes: 4 additions & 4 deletions applications/plugins/Xitact/examples/XitactGrasping_coupledModel.scn
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Expand Up @@ -85,7 +85,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -104,7 +104,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" toolIndex="0"/>

Expand Down Expand Up @@ -202,7 +202,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -221,7 +221,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" toolIndex="1"/>

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12 changes: 6 additions & 6 deletions applications/plugins/Xitact/examples/XitactGrasping_coupledModel_withITP.scn
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Expand Up @@ -85,7 +85,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -104,7 +104,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" toolIndex="0"/>

Expand Down Expand Up @@ -202,7 +202,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -221,7 +221,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<IHPDriver Scale="1000" toolIndex="1"/>

Expand Down Expand Up @@ -319,7 +319,7 @@
<UniformMass totalMass="0.01"/>


<RestShapeSpringsForceField points="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<RestShapeSpringsForceField indices="0" stiffness="10000" angularStiffness="1000000000" external_rest_shape="@toto"/>
<UncoupledConstraintCorrection compliance="0.0001 0.000000001 0 0 0.000000001 0 0.000000001"/>


Expand All @@ -338,7 +338,7 @@
<Node name="Grasper">
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000000 1000000 1000000 1000 1000000 1000000 " printLog="true"/>
<UncoupledConstraintCorrection compliance="0.000001 0.000001 0.000001 0.001 0.000001 0.000001 " />
<ITPDriver Scale="1000" toolIndex="2"/>

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4 changes: 2 additions & 2 deletions applications/plugins/Xitact/examples/xitactTest.scn
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Expand Up @@ -17,7 +17,7 @@
<CGLinearSolver iterations="40" name="linear solver" tolerance="1.0e-9" threshold="1.0e-15" printLog="0"/>
<!-- Modify this position in the scene -->
<MechanicalObject name="bati" template="Rigid3d" position="0 0 0 0 0 0 1"/>
<RestShapeSpringsForceField points="0" stiffness="100000" angularStiffness="1000000"/> <!--external_rest_shape="@toto"/>-->
<RestShapeSpringsForceField indices="0" stiffness="100000" angularStiffness="1000000"/> <!--external_rest_shape="@toto"/>-->
<UncoupledConstraintCorrection compliance="0.00001 0.000001 0 0 0.000001 0 0.000001"/>

<Node name="VisuOfXitactBase">
Expand All @@ -34,7 +34,7 @@
<IHPDriver toolIndex="0" permanent="true" RefreshFrequency="500" forceScale="0.1"/>
<MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" rest_position="0 0 0 0 0 0"/>
<!-- <UniformMass vertexMass="10.0 1 2.0 0 0 0 10.0 0 0 0 10.0"/> -->
<RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness="1000 1000 1000 10000 1000 1000 " />
<RestShapeSpringsForceField indices="0 1 2 3 4 5" stiffness="1000 1000 1000 10000 1000 1000 " />
<UncoupledConstraintCorrection compliance="0.01 0.01 0.01 0.0001 0.001 0.001 " />
<VMechanismsForceFeedback activate="true"/>
<!--<LCPForceFeedback /> -->
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2 changes: 1 addition & 1 deletion examples/Component/Constraint/Lagrangian/FixedLagrangianConstaint_Vec3.scn
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Expand Up @@ -46,7 +46,7 @@
<UniformMass totalMass="1"/>

<BoxROI name="box" box="-0.01 -0.01 -0.01 0.01 0.11 0.11"/>
<FixedLagrangianConstraint indices="@box.indices"/>
<FixedWeakConstraint indices="@box.indices"/>

<Node name="Surface">
<TriangleSetTopologyContainer name="Container"/>
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2 changes: 1 addition & 1 deletion examples/Component/SolidMechanics/FEM/RestShapeSpringsForceField3.scn
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Expand Up @@ -21,7 +21,7 @@
<MechanicalObject name="object2MO" template="Rigid3d" position="0.5 0.5 0 0.2705980500730985 0.2705980500730985 0 0.9238795325112867" showObject="true"/>
<RestShapeSpringsForceField stiffness="11" angularStiffness="12"
external_rest_shape="@../Object1/object1MO"
points="0" external_points="0"
indices="0" externalIndices="0"
drawSpring="true" springColor="1 1 1 1"
activeDirections="1 0 1 1 0 1"/>
<UniformMass totalMass="0.01" />
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