Skip to content

[examples] Use CCD for example scene #6159

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
bakpaul wants to merge 5 commits into
base: master
Choose a base branch
from
+14 −11
Open

[examples] Use CCD for example scene #6159

Changes from 1 commit
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
f4a9b24
Use CCD for example scene
bakpaul Jun 16, 2026
f558a14
Remove warning and update comments
bakpaul Jun 19, 2026
f01745f
Apply changes to simple-API based example
bakpaul Jun 19, 2026
19f3504
Reduce tolerance by DOF
bakpaul Jun 29, 2026
244111c
Merge branch 'master' into 26_06_use_ccd_in_falling_sofa_scene
bakpaul Jul 2, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
9 changes: 4 additions & 5 deletions examples/Demos/fallingSOFA.scn
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,9 +47,8 @@
<!-- This set the model used for contact behavior as Colomb's friction contact law using Lagrangian-based constraints -->
<CollisionResponse name="ContactManager" response="FrictionContactConstraint" responseParams="mu=0.3" />
<!-- This object is responsible for defining pairs of points used for contact simulation.
Alarm distance and contact distance are key parameters: alarm distance is the distance at which the collision
detection is being performed. The contact distance increases the contact distance between object, enforcing a 'skinning' behavior -->
<NewProximityIntersection name="Intersection" alarmDistance="0.02" contactDistance="0.002" />
The contact distance increases the contact distance between object, enforcing a 'skinning' behavior -->
<CCDTightInclusionIntersection name="CCDTightInclusionIntersection" continuousCollisionType="FreeMotion" maxIterations="100" contactDistance="0.00001"/>

<!-- Non-simulated node used to create underlying deformable topology -->
<Node name="BeamDomainFromGridTopology">
Expand Down Expand Up @@ -95,7 +94,7 @@

<!-- This uses triangles as colliding element. These triangular primitives are the triangles present in the topology
For more information on collision models see : https://sofa-framework.github.io/doc/components/collision/geometry/collisionmodels/ -->
Comment thread
bakpaul marked this conversation as resolved.
<TriangleCollisionModel name="Collision" contactDistance="0.001" color="0.94117647058824 0.93725490196078 0.89411764705882" />
<PointCollisionModel name="Collision" contactDistance="0.0" color="0.94117647058824 0.93725490196078 0.89411764705882" />

<!-- This is a mapping: it relates the position of this node to the one of the simulated node.
The position of this node (the output of the mapping) is totally defined by the position of the input node
Expand Down Expand Up @@ -157,6 +156,6 @@
4 5 6 4 6 7" />
<MechanicalObject template="Vec3"/>
<!-- Because it is neither simulated nor moving, we can speed the solver and collision detection by setting parameters moving="0" simulated="0" -->
<TriangleCollisionModel name="CubeCM" contactDistance="0.001" moving="0" simulated="0" />
<TriangleCollisionModel name="CubeCM" contactDistance="0.00001" moving="0" simulated="0" />
</Node>
</Node>
Loading