liver-HD-FastCoritational.scn

<?xml version="1.0" ?>
<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 -9.8 0">
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [MinProximityIntersection] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
    <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->  
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->  
    <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 [MeshMatrixMass] -->  
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField] -->  
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->  
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [FastTetrahedralCorotationalForceField] -->  
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->  
    <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.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->  
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->  
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->  
    <VisualStyle displayFlags="showVisual" />
    
    <DefaultAnimationLoop />
    <DefaultVisualManagerLoop />
    
    <DefaultPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <DefaultContactManager response="PenalityContactForceField" />
    <MinProximityIntersection name="Proximity" alarmDistance="0.8" contactDistance="0.5" />

    <Node name="LiverVolume">
        <EulerImplicitSolver name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshGmshLoader name="loader" filename="./mesh/liver3-HD.msh" scale3d="2.5 2.5 2.5" rotation="-20 180 0" translation="0 -20 0"/>
        <MechanicalObject src="@loader" name="Volume"  />

		<TetrahedronSetTopologyContainer  name="TetraContainer" position="@Volume.position" src="@loader" tags=" "/>
		<TetrahedronSetTopologyModifier   name="Modifier" />
		<TetrahedronSetGeometryAlgorithms name="GeomAlgo"  template="Vec3d" />

        <MeshMatrixMass massDensity="1.0" topology="@TetraContainer"/>
        <BoxROI template="Vec3d" box="4 -4 -3 10 2 3" drawBoxes="1" position="@Volume.rest_position" name="FixedROI"/>
        <FastTetrahedralCorotationalForceField name="FEM" youngModulus="2000" poissonRatio="0.3" method="large" />
		<PlaneForceField normal="0 1 0" d="-50  " stiffness="100000" showPlane="1" showPlaneSize="20"/>
        
        <Node name="LiverSurface">
            <TriangleSetTopologyContainer  name="TriContainer" fileTopology="" tags=" " />
			<TriangleSetTopologyModifier   name="Modifier" />
			<TriangleSetGeometryAlgorithms name="GeomAlgo"   template="Vec3d" />
			
            <Tetra2TriangleTopologicalMapping input="@../TetraContainer" output="@TriContainer" />
			<TriangularBendingSprings name="FEM-Bend" stiffness="600" damping="1.0" topology="@TriContainer" />
			<TriangleCollisionModel />
            
            <Node name="LiverVisu">
                <OglModel name="Visual" color="blue" />
                <IdentityMapping input="@../../Volume" output="@Visual" />
            </Node>
        </Node>        
    </Node>
</Node>