[wq57fan]

Hi Hugo,
I tried your way, and it works in Modeler.

However, in my C++ project, there are two main problems existing:

1.The rigid body cannot detect the collision.

2.The rigid body cannot fall down with gravity.

Here is a part of my code:

	nodeFixed = chain->createChild("Fixed");

	sofa::component::odesolver::EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New<sofa::component::odesolver::EulerImplicitSolver>();    
	solver->setName("Euler Implicit");
	solver->f_rayleighStiffness.setValue(0.1);
	solver->f_rayleighMass.setValue(0.1);
	nodeFixed->addObject(solver);

	typedef sofa::component::linearsolver::CGLinearSolver< sofa::component::linearsolver::GraphScatteredMatrix, sofa::component::linearsolver::GraphScatteredVector> CGLinearSolverGraph;
	CGLinearSolverGraph::SPtr linear = sofa::core::objectmodel::New<CGLinearSolverGraph>();
	linear->setName("Conjugate Gradient"); //solver->setName("Conjugate Gradient");
	linear->f_maxIter.setValue(25); //iteration maxi for the CG
	linear->f_smallDenominatorThreshold.setValue(1e-05);
	linear->f_tolerance.setValue(1e-05);
	nodeFixed->addObject(linear);

	sofa::component::loader::MeshGmshLoader::SPtr loaderRigid = sofa::core::objectmodel::New<sofa::component::loader::MeshGmshLoader>();
	loaderRigid->setName("Msh Loader");
        loaderRigid->setFilename(sofa::helper::system::DataRepository.getFile("mesh/liver.msh"));
        loaderRigid->load();
        nodeFixed->addObject(loaderRigid);

	dofRigid = sofa::core::objectmodel::New<MechanicalObjectRigid3>(); 
	dofRigid->setName("Fixed Object");
        dofRigid->setSrc("@"+loaderRigid->getName(), loaderRigid.get());
	dofRigid->setTranslation(0,0,0);
	dofRigid->setRotation(0,0,0);
	nodeFixed->addObject(dofRigid);
	
	UniformMassRigid3::SPtr uniMassFixed = sofa::core::objectmodel::New<UniformMassRigid3>();
        uniMassFixed->setName("Uni Mass");
	uniMassFixed->setMass(1);
        uniMassFixed->setTotalMass(1); 
        nodeFixed->addObject(uniMassFixed);

	sofa::component::container::Node* nodeFixedVisual = nodeFixed->createChild("Visual");

	visualFixed = sofa::core::objectmodel::New<sofa::component::visualmodel::OglModel>();
	visualFixed->setName("visual");
	visualFixed->setFilename(sofa::helper::system::DataRepository.getFile(visualModelName1));
	visualFixed->setColor("gray");
	visualFixed->setTranslation(0,0,0);
	visualFixed->setRotation(0,0,0);
	nodeFixedVisual->addObject(visualFixed);

	visualModel[0] = visualFixed.get();

	const std::string refVisual3 = "@" + visualFixed->getName(); //output
	const std::string refDof3 = "@../" + dofRigid->getName();    //input
        RigidMappingRigid3d_to_Ext3f::SPtr mapping5 = sofa::core::objectmodel::New<RigidMappingRigid3d_to_Ext3f>();
        mapping5->setModels(dofRigid.get(), visualFixed.get());
	mapping5->setName("Mapping Visual");
	mapping5->setPathInputObject(refDof3);
	mapping5->setPathOutputObject(refVisual3);
        nodeFixedVisual->addObject(mapping5);

I don’t know that if it is because some of my parameters are wrong.

Thanks for your help.

[wq57fan]

Thank you！
I’m learning now, i will pay attention to the updating!

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