Source code for stlib.scene.contactheader

# -*- coding: utf-8 -*-

def ContactHeader(applyTo, alarmDistance, contactDistance, frictionCoef=0.0):
    '''
    Args:
        applyTo (Sofa.Node): the node to attach the object to

        alarmDistance (float): define the distance at which the contact are integrated into
                               the detection computation.

        contactDistance (float): define the distance at which the contact response is
                                 integrated into the computation.


        frictionCoef (float, default=0.0): optional value, set to non-zero to enable
                                               a global friction in your scene.

    Structure:
        .. sourcecode:: qml

            rootNode : {
                CollisionPipeline,
                BruteForceBroadPhase,
                BVHNarrowPhase,
                RuleBasedContactManager,
                LocalMinDistance
            }
    '''
    if applyTo.getObject("CollisionPipeline", warning=False) is None:
            applyTo.createObject('CollisionPipeline')

    applyTo.createObject('BruteForceBroadPhase', name="N2")
    applyTo.createObject('BVHNarrowPhase')

    applyTo.createObject('RuleBasedContactManager', responseParams="mu="+str(frictionCoef),
                                                    name='Response', response='FrictionContact')
    applyTo.createObject('LocalMinDistance',
                        alarmDistance=alarmDistance, contactDistance=contactDistance,
                        angleCone=0.01)

    if applyTo.getObject("FreeMotionAnimationLoop", warning=False) is None:
            applyTo.createObject('FreeMotionAnimationLoop')
            
    if applyTo.getObject("GenericConstraintSolver", warning=False) is None:        
            applyTo.createObject('GenericConstraintSolver', tolerance="1e-6", maxIterations="1000")

    return applyTo

### This function is just an example on how to use the DefaultHeader function.
def createScene(rootNode):
    import os
    from mainheader import MainHeader
    MainHeader(rootNode, plugins=["SofaMiscCollision","SofaPython","SoftRobots"], repositoryPaths=[os.getcwd()])
    ContactHeader(rootNode, alarmDistance=1, contactDistance=0.1, frictionCoef=1.0)