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[examples] Add new example showcasing how to attach two bodies #5250

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[examples] Add new example showcasing how to attach two bodies #5250

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087ca6f
[examples] Add new example showcasing how to attach two bodies
hugtalbot Jan 29, 2025
35e388d
minor esthetic change
hugtalbot Jan 29, 2025
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106 changes: 106 additions & 0 deletions examples/Component/Constraint/Lagrangian/BilateralLagrangianConstraint_Soft_Rigid_Bodies.scn
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<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01">

<Node name="plugins" >
<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 [MinProximityIntersection] -->
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [CollisionResponse] -->
<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.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 [UniformMass] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedronFEMForceField] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping Tetra2TriangleTopologicalMapping] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Model"/> <!-- Needed to use components [BilateralLagrangianConstraint] -->
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
</Node>


<FreeMotionAnimationLoop computeBoundingBox="0"/>
<GenericConstraintSolver maxIterations="1000" tolerance="1e-3"/>

<VisualStyle displayFlags="showBehaviorModels showVisual showForceFields" />
<CollisionPipeline name="CollisionLoop" verbose="0" />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<CollisionResponse name="CollisionReponse" response="FrictionContactConstraint" />
<MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />


<Node name="DeformableGrid" >
<RegularGridTopology name="grid" n="6 6 6" min="-10 -10 -10" max="10 10 10" p0="-10 -10 -10" />
<HexahedronSetTopologyContainer name="Container" src="@grid"/>
<MechanicalObject template="Vec3d" name="gridDofs"/>

<Node name="DeformableCube" bbox="-10 -10 -10 10 10 10" >
<EulerImplicitSolver name="cg_odesolver" />
<SparseLDLSolver name="linear solver" template="CompressedRowSparseMatrixMat3x3d" />
<TetrahedronSetTopologyContainer name="Container" />
<TetrahedronSetTopologyModifier name="Modifier" />
<TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
<MechanicalObject template="Vec3d" name="DeformableDoFs" position="@../gridDofs.position"/>
<Hexa2TetraTopologicalMapping name="ExtratTetraMapping" input="@../Container" output="@Container" />

<UniformMass template="Vec3d" name="NodalMass" vertexMass="0.25" />
<TetrahedronFEMForceField template="Vec3d" name="LinearElasticity" method="large" poissonRatio="0.4" youngModulus="500" />
<BoxROI template="Vec3d" name="box_roi" box="-11 -11 -11 11 -9 11" indices="0" drawSize="0" />

<LinearSolverConstraintCorrection />

<!-- Interface (of soft body) between both bodies -->
<Node name="MappedInterface" >
<MechanicalObject template="Vec3d" name="MappedDoFs" position="@../box_roi.pointsInROI" showObject="1" showObjectScale="0"/>
<BarycentricMapping input="@../DeformableDoFs" output="@MappedDoFs" />
</Node>

<Node name="Visualization" >
<TriangleSetTopologyContainer name="Container" />
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" />
<Tetra2TriangleTopologicalMapping name="ExtractSurfaceMapping" input="@../Container" output="@Container" />

<Node name="VisualModel" >
<OglModel name="VisualModel" material="Default Diffuse 1 1 0 0 0.5 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" position="@../../DeformableDoFs.position" triangles="@Container.triangles"/>
<IdentityMapping template="Vec3d,Vec3d" name="VisualMapping" input="@../../DeformableDoFs" output="@VisualModel" />
</Node>
</Node>
</Node>
</Node>


<!-- Rigid body -->
<Node name="RigidBody" >
<EulerImplicitSolver name="EulerImplicit" />
<CGLinearSolver template="GraphScattered" name="CG-LinearSolver" iterations="25" tolerance="1e-09" threshold="1e-09" />
<MechanicalObject template="Rigid3d" name="rigidDofs" position="0 -15 0 0 0 0 1" showObject="1" showObjectScale="5"/>
<UniformMass name="NodalMass" totalMass="1" />
<LinearMovementProjectiveConstraint template="Rigid3" name="MotionConstraint" keyTimes="0 1 2 10 15" movements="0 0 0 0 0 0
0 -5 0 0 0 0
0 0 -1 0 0 0
0 0 -1 0 0 6.3
0 0 -1 0 0 0" />

<!-- Interface (of rigid body) between both bodies -->
<Node name="MappedRigidInterface" >
<MechanicalObject template="Vec3d" name="MappedDoFs" position="@DeformableGrid/DeformableCube/box_roi.pointsInROI" showObject="1" showObjectScale="10" />
<RigidMapping input="@../rigidDofs" output="@MappedDoFs" globalToLocalCoords="1"/>
</Node>
</Node>



<BilateralLagrangianConstraint template="Vec3d" name="Attachment" object1="@DeformableGrid/DeformableCube/MappedInterface" object2="@RigidBody/MappedRigidInterface" first_point="0 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" second_point="0 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" />

</Node>