BarycentricMapping

Mapping using barycentric coordinates of the child with respect to cells of its parent Supports GPU-side computations using CUDA Supports GPU-side computations using CUDA Supports GPU-side computations using CUDA Supports GPU-side computations using CUDA Supports GPU-side computations using CUDA

Templates:

• CudaVec3f,CudaVec3f
• CudaVec3f,CudaVec3f1
• CudaVec3f,Rigid3d
• CudaVec3f,Vec3d
• CudaVec3f1,CudaVec3f
• CudaVec3f1,CudaVec3f1
• CudaVec3f1,Vec3d
• Vec3d,CudaVec3f
• Vec3d,CudaVec3f1

Target: SofaCUDA

namespace: sofa::component::mapping::linear

parents:

• CRTPLinearMapping

Data:

Name	Description	Default value
name	object name	unnamed
printLog	if true, emits extra messages at runtime.	0
tags	list of the subsets the objet belongs to
bbox	this object bounding box
componentState	The state of the component among (Dirty, Valid, Undefined, Loading, Invalid).	Undefined
listening	if true, handle the events, otherwise ignore the events	0
mapForces	Are forces mapped ?	1
mapConstraints	Are constraints mapped ?	1
mapMasses	Are masses mapped ?	1
mapMatrices	Are matrix explicit mapped?	0
applyRestPosition	set to true to apply this mapping to restPosition at init	0
useRestPosition	Use the rest position of the input and output models to initialize the mapping	0

Links:

Name	Description
context	Graph Node containing this object (or BaseContext::getDefault() if no graph is used)
slaves	Sub-objects used internally by this object
master	nullptr for regular objects, or master object for which this object is one sub-objects
input	Input object to map
output	Output object to map
mapper	Internal mapper created depending on the type of topology
input_topology	Input topology container (usually the surrounding domain).
output_topology	Output topology container (usually the immersed domain).

Examples

Component/Mapping/Linear/BarycentricMapping.scn

XMLPython

<?xml version="1.0" ?>
<Node name="root" dt="0.02">
    <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.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [BarycentricMapping] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <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.SolidMechanics.Spring"/> <!-- Needed to use components [MeshSpringForceField RegularGridSpringForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->

    <DefaultAnimationLoop/>
    <VisualStyle displayFlags="showBehaviorModels showMappings" />
    <CollisionPipeline depth="6" verbose="0" draw="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.3" contactDistance="0.2" />
    <CollisionResponse name="Response" response="PenalityContactForceField" />
    <Node name="Chain">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <LineCollisionModel simulated="0" moving="0" />
            <PointCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_19" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_19" color="gray" />
        </Node>
        <Node name="TorusFEM">
            <EulerImplicitSolver rayleighStiffness="0.01"  rayleighMass="0.1" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="2.5" />
            <UniformMass vertexMass="0.1" />
            <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_3" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_3" color="red" dx="2.5" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="2.5" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="5" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_8" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_8" dx="5" color="green" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="5" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFFD">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject dx="7.5" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_13" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_13" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusRigid">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject template="Rigid3" dx="10" />
            <UniformMass filename="BehaviorModels/torus2.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_17" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_17" color="gray" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
    </Node>
    <Node name="ChainFEM">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dz="6" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <LineCollisionModel simulated="0" moving="0" />
            <PointCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_21" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_21" color="gray" dz="6" />
        </Node>
        <Node name="TorusFEM1">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="2.5" dz="6" />
            <UniformMass totalMass="5" />
            <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_23" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_23" color="red" dx="2.5" dz="6" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="2.5" dz="6" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFEM2">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="5" dz="6" />
            <UniformMass totalMass="5" />
            <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_1" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_1" color="red" dx="5" dz="6" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="5" dz="6" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFEM3">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="7.5" dz="6" />
            <UniformMass totalMass="5" />
            <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_6" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_6" color="red" dx="7.5" dz="6" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="7.5" dz="6" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFEM4">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="10" dz="6" />
            <UniformMass totalMass="5" />
            <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.3" computeGlobalMatrix="false" method="polar" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_10" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_10" color="red" dx="10" dz="6" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="10" dz="6" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
    </Node>
    <Node name="ChainSpring">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dz="12" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <LineCollisionModel simulated="0" moving="0" />
            <PointCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_14" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_14" dz="12" color="gray" />
        </Node>
        <Node name="TorusSpring1">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="2.5" dz="12" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_18" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_18" dx="2.5" dz="12" color="green" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="2.5" dz="12" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring2">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="5" dz="12" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_22" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_22" dx="5" dz="12" color="green" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="5" dz="12" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring3">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="7.5" dz="12" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_0" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_0" dx="7.5" dz="12" color="green" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="7.5" dz="12" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusSpring4">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MeshGmshLoader name="loader" filename="mesh/torus2_low_res.msh" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dx="10" dz="12" />
            <UniformMass totalMass="5" />
            <MeshSpringForceField name="Springs" tetrasStiffness="400" tetrasDamping="4" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_5" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_5" dx="10" dz="12" color="green" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" dx="10" dz="12" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
    </Node>
    <Node name="ChainFFD">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dz="18" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <LineCollisionModel simulated="0" moving="0" />
            <PointCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_9" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_9" dz="18" color="gray" />
        </Node>
        <Node name="TorusFFD1">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject dx="2.5" dz="18" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_11" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_11" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFFD2">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject dx="5" dz="18" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_15" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_15" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFFD3">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject dx="7.5" dz="18" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="2" nz="5" xmin="-2.5" xmax="2.5" ymin="-0.5" ymax="0.5" zmin="-2" zmax="2" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_20" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_20" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
        <Node name="TorusFFD4">
            <EulerImplicitSolver rayleighStiffness="0.01" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject dx="10" dz="18" />
            <UniformMass totalMass="5" />
            <RegularGridTopology nx="6" ny="5" nz="2" xmin="-2.5" xmax="2.5" ymin="-2" ymax="2" zmin="-0.5" zmax="0.5" />
            <RegularGridSpringForceField name="Springs" stiffness="200" damping="2" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_24" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_24" color="yellow" />
                <BarycentricMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <BarycentricMapping />
            </Node>
        </Node>
    </Node>
    <Node name="ChainRigid">
        <Node name="TorusFixed">
            <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" dz="24" />
            <TriangleCollisionModel simulated="0" moving="0" />
            <LineCollisionModel simulated="0" moving="0" />
            <PointCollisionModel simulated="0" moving="0" />
            <MeshOBJLoader name="meshLoader_2" filename="mesh/torus2.obj" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_2" dz="24" color="gray" />
        </Node>
        <Node name="TorusRigid1">
            <EulerImplicitSolver rayleighStiffness="0" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject template="Rigid3" dx="2.5" dz="24" />
            <UniformMass filename="BehaviorModels/torus.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_4" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_4" color="gray" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid2">
            <EulerImplicitSolver rayleighStiffness="0" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject template="Rigid3" dx="5" dz="24" />
            <UniformMass filename="BehaviorModels/torus2.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_7" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_7" color="gray" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid3">
            <EulerImplicitSolver rayleighStiffness="0" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject template="Rigid3" dx="7.5" dz="24" />
            <UniformMass filename="BehaviorModels/torus.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_12" filename="mesh/torus.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_12" color="gray" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
        <Node name="TorusRigid4">
            <EulerImplicitSolver rayleighStiffness="0" />
            <CGLinearSolver iterations="100" threshold="0.00000001" tolerance="1e-5"/>
            <MechanicalObject template="Rigid3" dx="10" dz="24" />
            <UniformMass filename="BehaviorModels/torus2.rigid" />
            <Node name="Visu">
                <MeshOBJLoader name="meshLoader_16" filename="mesh/torus2.obj" handleSeams="1" />
                <OglModel name="Visual" src="@meshLoader_16" color="gray" />
                <RigidMapping input="@.." output="@Visual" />
            </Node>
            <Node name="Surf2">
                <MeshOBJLoader name="loader" filename="mesh/torus2_for_collision.obj" />
                <MeshTopology src="@loader" />
                <MechanicalObject src="@loader" />
                <TriangleCollisionModel />
                <LineCollisionModel />
                <PointCollisionModel />
                <RigidMapping />
            </Node>
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.02")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
    root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.NonLinear")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
    root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
    root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
    root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.Spring")
    root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Grid")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('DefaultAnimationLoop')
    root.addObject('VisualStyle', displayFlags="showBehaviorModels showMappings")
    root.addObject('CollisionPipeline', depth="6", verbose="0", draw="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('MinProximityIntersection', name="Proximity", alarmDistance="0.3", contactDistance="0.2")
    root.addObject('CollisionResponse', name="Response", response="PenalityContactForceField")

    Chain = root.addChild('Chain')

    TorusFixed = Chain.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('LineCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('PointCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_19", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_19", color="gray")

    TorusFEM = Chain.addChild('TorusFEM')
    TorusFEM.addObject('EulerImplicitSolver', rayleighStiffness="0.01", rayleighMass="0.1")
    TorusFEM.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFEM.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
    TorusFEM.addObject('MeshTopology', src="@loader")
    TorusFEM.addObject('MechanicalObject', src="@loader", dx="2.5")
    TorusFEM.addObject('UniformMass', vertexMass="0.1")
    TorusFEM.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")

    Visu = TorusFEM.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_3", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_3", color="red", dx="2.5")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFEM.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="2.5")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusSpring = Chain.addChild('TorusSpring')
    TorusSpring.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusSpring.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusSpring.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
    TorusSpring.addObject('MeshTopology', src="@loader")
    TorusSpring.addObject('MechanicalObject', src="@loader", dx="5")
    TorusSpring.addObject('UniformMass', totalMass="5")
    TorusSpring.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")

    Visu = TorusSpring.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_8", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_8", dx="5", color="green")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="5")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFFD = Chain.addChild('TorusFFD')
    TorusFFD.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFFD.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFFD.addObject('MechanicalObject', dx="7.5")
    TorusFFD.addObject('UniformMass', totalMass="5")
    TorusFFD.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
    TorusFFD.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

    Visu = TorusFFD.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_13", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_13", color="yellow")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFFD.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusRigid = Chain.addChild('TorusRigid')
    TorusRigid.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusRigid.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusRigid.addObject('MechanicalObject', template="Rigid3", dx="10")
    TorusRigid.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")

    Visu = TorusRigid.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_17", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_17", color="gray")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('RigidMapping')

    ChainFEM = root.addChild('ChainFEM')

    TorusFixed = ChainFEM.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader", dz="6")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('LineCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('PointCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_21", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_21", color="gray", dz="6")

    TorusFEM1 = ChainFEM.addChild('TorusFEM1')
    TorusFEM1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFEM1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFEM1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
    TorusFEM1.addObject('MeshTopology', src="@loader")
    TorusFEM1.addObject('MechanicalObject', src="@loader", dx="2.5", dz="6")
    TorusFEM1.addObject('UniformMass', totalMass="5")
    TorusFEM1.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")

    Visu = TorusFEM1.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_23", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_23", color="red", dx="2.5", dz="6")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFEM1.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="2.5", dz="6")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFEM2 = ChainFEM.addChild('TorusFEM2')
    TorusFEM2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFEM2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFEM2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
    TorusFEM2.addObject('MeshTopology', src="@loader")
    TorusFEM2.addObject('MechanicalObject', src="@loader", dx="5", dz="6")
    TorusFEM2.addObject('UniformMass', totalMass="5")
    TorusFEM2.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")

    Visu = TorusFEM2.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_1", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_1", color="red", dx="5", dz="6")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFEM2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="5", dz="6")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFEM3 = ChainFEM.addChild('TorusFEM3')
    TorusFEM3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFEM3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFEM3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
    TorusFEM3.addObject('MeshTopology', src="@loader")
    TorusFEM3.addObject('MechanicalObject', src="@loader", dx="7.5", dz="6")
    TorusFEM3.addObject('UniformMass', totalMass="5")
    TorusFEM3.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")

    Visu = TorusFEM3.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_6", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_6", color="red", dx="7.5", dz="6")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFEM3.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="7.5", dz="6")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFEM4 = ChainFEM.addChild('TorusFEM4')
    TorusFEM4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFEM4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFEM4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
    TorusFEM4.addObject('MeshTopology', src="@loader")
    TorusFEM4.addObject('MechanicalObject', src="@loader", dx="10", dz="6")
    TorusFEM4.addObject('UniformMass', totalMass="5")
    TorusFEM4.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="1000", poissonRatio="0.3", computeGlobalMatrix="false", method="polar")

    Visu = TorusFEM4.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_10", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_10", color="red", dx="10", dz="6")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFEM4.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="10", dz="6")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    ChainSpring = root.addChild('ChainSpring')

    TorusFixed = ChainSpring.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader", dz="12")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('LineCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('PointCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_14", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_14", dz="12", color="gray")

    TorusSpring1 = ChainSpring.addChild('TorusSpring1')
    TorusSpring1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusSpring1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusSpring1.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
    TorusSpring1.addObject('MeshTopology', src="@loader")
    TorusSpring1.addObject('MechanicalObject', src="@loader", dx="2.5", dz="12")
    TorusSpring1.addObject('UniformMass', totalMass="5")
    TorusSpring1.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")

    Visu = TorusSpring1.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_18", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_18", dx="2.5", dz="12", color="green")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring1.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="2.5", dz="12")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusSpring2 = ChainSpring.addChild('TorusSpring2')
    TorusSpring2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusSpring2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusSpring2.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
    TorusSpring2.addObject('MeshTopology', src="@loader")
    TorusSpring2.addObject('MechanicalObject', src="@loader", dx="5", dz="12")
    TorusSpring2.addObject('UniformMass', totalMass="5")
    TorusSpring2.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")

    Visu = TorusSpring2.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_22", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_22", dx="5", dz="12", color="green")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="5", dz="12")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusSpring3 = ChainSpring.addChild('TorusSpring3')
    TorusSpring3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusSpring3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusSpring3.addObject('MeshGmshLoader', name="loader", filename="mesh/torus_low_res.msh")
    TorusSpring3.addObject('MeshTopology', src="@loader")
    TorusSpring3.addObject('MechanicalObject', src="@loader", dx="7.5", dz="12")
    TorusSpring3.addObject('UniformMass', totalMass="5")
    TorusSpring3.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")

    Visu = TorusSpring3.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_0", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_0", dx="7.5", dz="12", color="green")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring3.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="7.5", dz="12")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusSpring4 = ChainSpring.addChild('TorusSpring4')
    TorusSpring4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusSpring4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusSpring4.addObject('MeshGmshLoader', name="loader", filename="mesh/torus2_low_res.msh")
    TorusSpring4.addObject('MeshTopology', src="@loader")
    TorusSpring4.addObject('MechanicalObject', src="@loader", dx="10", dz="12")
    TorusSpring4.addObject('UniformMass', totalMass="5")
    TorusSpring4.addObject('MeshSpringForceField', name="Springs", tetrasStiffness="400", tetrasDamping="4")

    Visu = TorusSpring4.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_5", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_5", dx="10", dz="12", color="green")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusSpring4.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader", dx="10", dz="12")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    ChainFFD = root.addChild('ChainFFD')

    TorusFixed = ChainFFD.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader", dz="18")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('LineCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('PointCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_9", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_9", dz="18", color="gray")

    TorusFFD1 = ChainFFD.addChild('TorusFFD1')
    TorusFFD1.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFFD1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFFD1.addObject('MechanicalObject', dx="2.5", dz="18")
    TorusFFD1.addObject('UniformMass', totalMass="5")
    TorusFFD1.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
    TorusFFD1.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

    Visu = TorusFFD1.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_11", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_11", color="yellow")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFFD1.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFFD2 = ChainFFD.addChild('TorusFFD2')
    TorusFFD2.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFFD2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFFD2.addObject('MechanicalObject', dx="5", dz="18")
    TorusFFD2.addObject('UniformMass', totalMass="5")
    TorusFFD2.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
    TorusFFD2.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

    Visu = TorusFFD2.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_15", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_15", color="yellow")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFFD2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFFD3 = ChainFFD.addChild('TorusFFD3')
    TorusFFD3.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFFD3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFFD3.addObject('MechanicalObject', dx="7.5", dz="18")
    TorusFFD3.addObject('UniformMass', totalMass="5")
    TorusFFD3.addObject('RegularGridTopology', nx="6", ny="2", nz="5", xmin="-2.5", xmax="2.5", ymin="-0.5", ymax="0.5", zmin="-2", zmax="2")
    TorusFFD3.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

    Visu = TorusFFD3.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_20", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_20", color="yellow")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFFD3.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    TorusFFD4 = ChainFFD.addChild('TorusFFD4')
    TorusFFD4.addObject('EulerImplicitSolver', rayleighStiffness="0.01")
    TorusFFD4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusFFD4.addObject('MechanicalObject', dx="10", dz="18")
    TorusFFD4.addObject('UniformMass', totalMass="5")
    TorusFFD4.addObject('RegularGridTopology', nx="6", ny="5", nz="2", xmin="-2.5", xmax="2.5", ymin="-2", ymax="2", zmin="-0.5", zmax="0.5")
    TorusFFD4.addObject('RegularGridSpringForceField', name="Springs", stiffness="200", damping="2")

    Visu = TorusFFD4.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_24", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_24", color="yellow")
    Visu.addObject('BarycentricMapping', input="@..", output="@Visual")

    Surf2 = TorusFFD4.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('BarycentricMapping')

    ChainRigid = root.addChild('ChainRigid')

    TorusFixed = ChainRigid.addChild('TorusFixed')
    TorusFixed.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    TorusFixed.addObject('MeshTopology', src="@loader")
    TorusFixed.addObject('MechanicalObject', src="@loader", dz="24")
    TorusFixed.addObject('TriangleCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('LineCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('PointCollisionModel', simulated="0", moving="0")
    TorusFixed.addObject('MeshOBJLoader', name="meshLoader_2", filename="mesh/torus2.obj", handleSeams="1")
    TorusFixed.addObject('OglModel', name="Visual", src="@meshLoader_2", dz="24", color="gray")

    TorusRigid1 = ChainRigid.addChild('TorusRigid1')
    TorusRigid1.addObject('EulerImplicitSolver', rayleighStiffness="0")
    TorusRigid1.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusRigid1.addObject('MechanicalObject', template="Rigid3", dx="2.5", dz="24")
    TorusRigid1.addObject('UniformMass', filename="BehaviorModels/torus.rigid")

    Visu = TorusRigid1.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_4", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_4", color="gray")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid1.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid2 = ChainRigid.addChild('TorusRigid2')
    TorusRigid2.addObject('EulerImplicitSolver', rayleighStiffness="0")
    TorusRigid2.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusRigid2.addObject('MechanicalObject', template="Rigid3", dx="5", dz="24")
    TorusRigid2.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")

    Visu = TorusRigid2.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_7", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_7", color="gray")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid2.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid3 = ChainRigid.addChild('TorusRigid3')
    TorusRigid3.addObject('EulerImplicitSolver', rayleighStiffness="0")
    TorusRigid3.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusRigid3.addObject('MechanicalObject', template="Rigid3", dx="7.5", dz="24")
    TorusRigid3.addObject('UniformMass', filename="BehaviorModels/torus.rigid")

    Visu = TorusRigid3.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_12", filename="mesh/torus.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_12", color="gray")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid3.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('RigidMapping')

    TorusRigid4 = ChainRigid.addChild('TorusRigid4')
    TorusRigid4.addObject('EulerImplicitSolver', rayleighStiffness="0")
    TorusRigid4.addObject('CGLinearSolver', iterations="100", threshold="0.00000001", tolerance="1e-5")
    TorusRigid4.addObject('MechanicalObject', template="Rigid3", dx="10", dz="24")
    TorusRigid4.addObject('UniformMass', filename="BehaviorModels/torus2.rigid")

    Visu = TorusRigid4.addChild('Visu')
    Visu.addObject('MeshOBJLoader', name="meshLoader_16", filename="mesh/torus2.obj", handleSeams="1")
    Visu.addObject('OglModel', name="Visual", src="@meshLoader_16", color="gray")
    Visu.addObject('RigidMapping', input="@..", output="@Visual")

    Surf2 = TorusRigid4.addChild('Surf2')
    Surf2.addObject('MeshOBJLoader', name="loader", filename="mesh/torus2_for_collision.obj")
    Surf2.addObject('MeshTopology', src="@loader")
    Surf2.addObject('MechanicalObject', src="@loader")
    Surf2.addObject('TriangleCollisionModel')
    Surf2.addObject('LineCollisionModel')
    Surf2.addObject('PointCollisionModel')
    Surf2.addObject('RigidMapping')

Component/Mapping/Linear/BarycentricMappingTrussBeam.scn

XMLPython

<Node name="root" dt="0.01" showBoundingTree="0" gravity="0 0 0">
    <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 [LocalMinDistance] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [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.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 [BarycentricMapping IdentityMapping TubularMapping] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [ConstantForceField] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [BeamFEMForceField TetrahedronFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier TetrahedronSetGeometryAlgorithms TetrahedronSetTopologyContainer TetrahedronSetTopologyModifier TriangleSetGeometryAlgorithms TriangleSetTopologyContainer TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping 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 showBehaviorModels showCollisionModels" />
    <CollisionPipeline verbose="0" />
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
    <LocalMinDistance name="Proximity" alarmDistance="0.5" contactDistance="0.05" />
    <CollisionResponse response="PenalityContactForceField" />
    <DefaultAnimationLoop/>

    <!-- A deformable square mesh -->
    <Node name="Truss" activated="true" gravity="0 0 0">
        <EulerImplicitSolver  rayleighStiffness="0.1" rayleighMass="0.1" />
        <CGLinearSolver iterations="125" tolerance="1e-16" threshold="1e-16" />
        <MeshGmshLoader name="meshLoader0" filename="mesh/truss_tetra.msh" />
        <TetrahedronSetTopologyContainer name="Container" src="@meshLoader0" />
        <TetrahedronSetTopologyModifier name="Modifier" />
        <TetrahedronSetGeometryAlgorithms template="Vec3" name="GeomAlgo" />
        <MechanicalObject template="Vec3" name="TrussMO" />
        <UniformMass totalMass="0.05" />
        <BoxConstraint box="-0.001 -0.001 -0.001 0.001 0.011 0.011" />
        <TetrahedronFEMForceField name="FEM" youngModulus="300000" poissonRatio="0.45" method="large" />
        <BoxROI box="0.099 -0.001 -0.001 0.11 0.011 0.011"/>
        <ConstantForceField forces="0 -0.1 0" />

        <Node name="Triangle">
            <include href="Objects/TriangleSetTopology.xml" />
            <Tetra2TriangleTopologicalMapping input="@/Truss/Container" output="@Container" />
            <TriangleCollisionModel />
            <Node name="TriangleVisual">
                <OglModel template="Vec3" name="Visual" material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45" />
                <IdentityMapping template="Vec3,Vec3" name="default12" input="@.." output="@Visual" />
            </Node>
        </Node>
        <Node name="Beam">
            <MechanicalObject template="Rigid3" name="BeamMO" position="0 0 0  0 0 0 1  0.02 0 0  0 0 0 1  0.04 0 0  0 0 0 1   0.06 0 0  0 0 0 1  0.08 0 0  0 0 0 1   0.1 0 0  0 0 0 1" />
            <MeshTopology name="BeamMesh" lines="0 1 1 2 2 3 3 4 4 5" />
            <FixedProjectiveConstraint name="BeamFixedProjectiveConstraint" indices="0" />
            <UniformMass vertexMass="0.001 0.001 [0.0001 0 0 0 0.0001 0 0 0 0.0001]" />
            <BeamFEMForceField name="BeamFEM" radius="0.005" youngModulus="3000000000" poissonRatio="0.45" />
            <ConstantForceField indices="5" forces="0 0 0 -10 0 0" />
            <BarycentricMapping isMechanical="true" input="@TrussMO" output="@BeamMO" />
            <Node name="VisuThread">
                <MechanicalObject name="Quads" />
                <include href="Objects/QuadSetTopology.xml" />
                <Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMesh" output="@Container" />
                <TubularMapping nbPointsOnEachCircle="10" radius="0.005" input="@BeamMO" output="@Quads" />
                <Node name="VisuOgl">
                    <OglModel name="Visual" color="0.5 0.5 1.0" />
                    <IdentityMapping input="@Quads" output="@Visual" />
                </Node>
            </Node>
        </Node>
    </Node>
</Node>

def createScene(rootNode):

    root = rootNode.addChild('root', dt="0.01", showBoundingTree="0", gravity="0 0 0")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Algorithm")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Detection.Intersection")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Geometry")
    root.addObject('RequiredPlugin', name="Sofa.Component.Collision.Response.Contact")
    root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
    root.addObject('RequiredPlugin', name="Sofa.Component.Engine.Select")
    root.addObject('RequiredPlugin', name="Sofa.Component.IO.Mesh")
    root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Iterative")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mapping.Linear")
    root.addObject('RequiredPlugin', name="Sofa.Component.Mass")
    root.addObject('RequiredPlugin', name="Sofa.Component.MechanicalLoad")
    root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
    root.addObject('RequiredPlugin', name="Sofa.Component.SolidMechanics.FEM.Elastic")
    root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Dynamic")
    root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Mapping")
    root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
    root.addObject('RequiredPlugin', name="Sofa.GL.Component.Rendering3D")
    root.addObject('VisualStyle', displayFlags="showVisual showBehaviorModels showCollisionModels")
    root.addObject('CollisionPipeline', verbose="0")
    root.addObject('BruteForceBroadPhase')
    root.addObject('BVHNarrowPhase')
    root.addObject('LocalMinDistance', name="Proximity", alarmDistance="0.5", contactDistance="0.05")
    root.addObject('CollisionResponse', response="PenalityContactForceField")
    root.addObject('DefaultAnimationLoop')

    Truss = root.addChild('Truss', activated="true", gravity="0 0 0")
    Truss.addObject('EulerImplicitSolver', rayleighStiffness="0.1", rayleighMass="0.1")
    Truss.addObject('CGLinearSolver', iterations="125", tolerance="1e-16", threshold="1e-16")
    Truss.addObject('MeshGmshLoader', name="meshLoader0", filename="mesh/truss_tetra.msh")
    Truss.addObject('TetrahedronSetTopologyContainer', name="Container", src="@meshLoader0")
    Truss.addObject('TetrahedronSetTopologyModifier', name="Modifier")
    Truss.addObject('TetrahedronSetGeometryAlgorithms', template="Vec3", name="GeomAlgo")
    Truss.addObject('MechanicalObject', template="Vec3", name="TrussMO")
    Truss.addObject('UniformMass', totalMass="0.05")
    Truss.addObject('BoxConstraint', box="-0.001 -0.001 -0.001 0.001 0.011 0.011")
    Truss.addObject('TetrahedronFEMForceField', name="FEM", youngModulus="300000", poissonRatio="0.45", method="large")
    Truss.addObject('BoxROI', box="0.099 -0.001 -0.001 0.11 0.011 0.011")
    Truss.addObject('ConstantForceField', forces="0 -0.1 0")

    Triangle = Truss.addChild('Triangle')
    Triangle.addObject('include', href="Objects/TriangleSetTopology.xml")
    Triangle.addObject('Tetra2TriangleTopologicalMapping', input="@/Truss/Container", output="@Container")
    Triangle.addObject('TriangleCollisionModel')

    TriangleVisual = Triangle.addChild('TriangleVisual')
    TriangleVisual.addObject('OglModel', template="Vec3", name="Visual", material="Default Diffuse 1 1 0 0 1 Ambient 1 0.2 0 0 1 Specular 0 1 0 0 1 Emissive 0 1 0 0 1 Shininess 0 45")
    TriangleVisual.addObject('IdentityMapping', template="Vec3,Vec3", name="default12", input="@..", output="@Visual")

    Beam = Truss.addChild('Beam')
    Beam.addObject('MechanicalObject', template="Rigid3", name="BeamMO", position="0 0 0  0 0 0 1  0.02 0 0  0 0 0 1  0.04 0 0  0 0 0 1   0.06 0 0  0 0 0 1  0.08 0 0  0 0 0 1   0.1 0 0  0 0 0 1")
    Beam.addObject('MeshTopology', name="BeamMesh", lines="0 1 1 2 2 3 3 4 4 5")
    Beam.addObject('FixedProjectiveConstraint', name="BeamFixedProjectiveConstraint", indices="0")
    Beam.addObject('UniformMass', vertexMass="0.001 0.001 [0.0001 0 0 0 0.0001 0 0 0 0.0001]")
    Beam.addObject('BeamFEMForceField', name="BeamFEM", radius="0.005", youngModulus="3000000000", poissonRatio="0.45")
    Beam.addObject('ConstantForceField', indices="5", forces="0 0 0 -10 0 0")
    Beam.addObject('BarycentricMapping', isMechanical="true", input="@TrussMO", output="@BeamMO")

    VisuThread = Beam.addChild('VisuThread')
    VisuThread.addObject('MechanicalObject', name="Quads")
    VisuThread.addObject('include', href="Objects/QuadSetTopology.xml")
    VisuThread.addObject('Edge2QuadTopologicalMapping', nbPointsOnEachCircle="10", radius="0.005", input="@BeamMesh", output="@Container")
    VisuThread.addObject('TubularMapping', nbPointsOnEachCircle="10", radius="0.005", input="@BeamMO", output="@Quads")

    VisuOgl = VisuThread.addChild('VisuOgl')
    VisuOgl.addObject('OglModel', name="Visual", color="0.5 0.5 1.0")
    VisuOgl.addObject('IdentityMapping', input="@Quads", output="@Visual")