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Adding mesh_repulsion_general.scn scene so the whole mesh_intersection_resolver pipeline works as intended #5

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Merged
epernod merged 1 commit into from
Aug 10, 2026
Merged

Adding mesh_repulsion_general.scn scene so the whole mesh_intersection_resolver pipeline works as intended #5

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95 changes: 95 additions & 0 deletions scenes/mesh_repulsion_general.scn
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Original file line number Diff line number Diff line change
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<?xml version="1.0"?>
<Node name="root" gravity="0 0 0" dt="0.003">
<RequiredPlugin pluginName="Sofa.Component.AnimationLoop"/>
<RequiredPlugin pluginName="Sofa.Component.IO.Mesh"/>
<RequiredPlugin pluginName="Sofa.Component.Mapping.Linear"/>
<RequiredPlugin pluginName="Sofa.Component.Setting"/>
<RequiredPlugin pluginName="Sofa.Component.StateContainer"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Container.Dynamic"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Mapping"/>
<RequiredPlugin pluginName="Sofa.Component.Topology.Utility"/>
<RequiredPlugin pluginName="Sofa.Component.Visual"/>
<RequiredPlugin pluginName="Sofa.GL.Component.Rendering3D"/>
<RequiredPlugin pluginName="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin pluginName="Sofa.Component.Mass"/>
<RequiredPlugin pluginName="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin pluginName="Sofa.Component.SolidMechanics.Spring"/>
<RequiredPlugin pluginName="CGALPlugin"/>

<BackgroundSetting color="0 0.16862745098 0.21176470588"/>
<VisualStyle displayFlags="showVisualModels showBehaviorModels"/>
<DefaultAnimationLoop/>

<Node name="MasterLiver">
<MeshGmshLoader name="loader" filename="{{MASTER_MSH}}"/>
<MechanicalObject name="dofs" template="Vec3d" position="@loader.position" showObject="false"/>
<TriangleSetTopologyContainer name="topology" src="@loader"/>
<TriangleSetTopologyModifier name="topologyModifier"/>
<TriangleSetGeometryAlgorithms name="geometryAlgorithms" template="Vec3d"/>

<Node name="Visual">
<OglModel name="visu" src="@../loader" color="1 0.05 0.05 1.0"/>
<IdentityMapping input="@../dofs" output="@visu"/>
</Node>
</Node>

<Node name="SlaveDiaphragmVolume">
<EulerImplicitSolver name="odesolver" rayleighStiffness="0.25" rayleighMass="0.45"/>
<CGLinearSolver name="linearsolver" iterations="60" tolerance="1.0e-6" threshold="1.0e-6"/>

<MeshGmshLoader name="volumeLoader" filename="{{SLAVE_MSH}}"/>
<MechanicalObject name="dofs" template="Vec3d" position="@volumeLoader.position" showObject="false"/>
<TetrahedronSetTopologyContainer name="topology" src="@volumeLoader"/>
<TetrahedronSetTopologyModifier name="topologyModifier"/>
<TetrahedronSetGeometryAlgorithms name="geometryAlgorithms" template="Vec3d"/>

<UniformMass totalMass="1.2"/>
<TetrahedronFEMForceField name="tetraFEM" template="Vec3d" method="large" youngModulus="5000" poissonRatio="0.45"/>

<RestShapeSpringsForceField stiffness="100" angularStiffness="100" />

<Node name="ContactSurface">
<MechanicalObject name="surfaceDofs" template="Vec3d" position="@../volumeLoader.position" showObject="false"/>
<TriangleSetTopologyContainer name="surfaceTopology" src="@../volumeLoader"/>
<TriangleSetTopologyModifier name="surfaceTopologyModifier"/>
<TriangleSetGeometryAlgorithms name="surfaceGeometryAlgorithms" template="Vec3d"/>
<BarycentricMapping name="surfaceToVolumeMapping" input="@../dofs" output="@surfaceDofs" mapForces="true" mapMasses="false"/>

<MeshRepulsionEngine name="diaphragmCgalSpringPairs" template="Vec3d"
masterState="@../../MasterLiver/dofs"
masterTopology="@../../MasterLiver/topology"
slaveTopology="@surfaceTopology"
safetyDistance="1.2"
crossingDepth="2.2"
pushInsideVertices="true"
pushEdgeCrossings="true"
pushFaceCrossings="true"
rebuildMasterEveryStep="false"
logEveryNSteps="1"
stiffness="45000"
maxForce="120000"
printLog="true"
writeCsv="true"
csvFilePath="{{CSV_PATH}}"
/>

<Node name="Visual">
<OglModel name="visu" src="@../../volumeLoader" color="0.15 0.55 1.0 0.35"/>
<IdentityMapping input="@../surfaceDofs" output="@visu"/>
</Node>

<Node name="CollisionMesh">
<MeshOBJLoader name="loader_surface" filename="{{SLAVE_OBJ}}"/>
<MechanicalObject name="collisionDofs" template="Vec3d" position="@loader_surface.position"/>
<TriangleSetTopologyContainer name="collisionTopology" src="@loader_surface"/>
<TriangleSetTopologyModifier name="collisionTopologyModifier"/>
<TriangleSetGeometryAlgorithms name="collisionGeometryAlgorithms" template="Vec3d" drawEdges="1"/>
<BarycentricMapping input="@../surfaceDofs" output="@collisionDofs"/>
<MeshExporter name="exporter" format="obj" printLog="true" position="@collisionDofs.position" edges="false" triangles="true" quads="false" tetras="false" hexas="false" exportAtEnd="true" filename="{{EXPORT_BASENAME}}"/>
</Node>

</Node>
</Node>
</Node>
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