Issue with collision on sharp edges with my haption haptic device #5117
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kashyappiyush1998
asked this question in
Haptics
Replies: 1 comment 3 replies
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Are you using the Tearing plugin or the regular topological changes from SOFA? |
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3 replies
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I am using the tearing plugin but the mesh is using TriangularFEMModel as well to interact with the tool mesh. Highly appreciate any help. Thank You <Node name="root" dt="0.02" gravity="0 0 0">
<!-- <RequiredPlugin name="SofaBoundaryCondition"/>
<RequiredPlugin name="SofaConstraint"/>
<RequiredPlugin name="SofaGeneralDeformable"/>
<RequiredPlugin name="SofaImplicitOdeSolver"/>
<RequiredPlugin name="SofaLoader"/>
<RequiredPlugin name="SofaMeshCollision"/>
<RequiredPlugin name="SofaMiscFem"/>
<RequiredPlugin name="SofaRigid"/>
<RequiredPlugin name="SofaUserInteraction"/>
<RequiredPlugin name="SofaOpenglVisual"/> -->
<RequiredPlugin name="MultiThreading"/>
<RequiredPlugin name="Sofa.Component.AnimationLoop"/>
<RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/>
<RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/>
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/>
<RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/>
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/>
<RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/>
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/>
<RequiredPlugin name="Sofa.Component.Controller"/>
<RequiredPlugin name="Sofa.Component.Haptics"/>
<RequiredPlugin name="Sofa.Component.IO.Mesh"/>
<RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
<RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
<RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/>
<RequiredPlugin name="Sofa.Component.Mass"/>
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
<RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/>
<RequiredPlugin name="Sofa.Component.StateContainer"/>
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/>
<RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/>
<RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
<RequiredPlugin name="Sofa.Component.Topology.Mapping"/>
<RequiredPlugin name="Sofa.Component.Visual"/>
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/>
<RequiredPlugin name="Sofa.Component.Engine.Select"/>
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/>
<RequiredPlugin name="Sofa.Component.Engine.Transform"/>
<RequiredPlugin name="Sofa.Component.SceneUtility"/>
<RequiredPlugin name="Sofa.GL.Component.Shader"/>
<RequiredPlugin name="Sofa.Component.LinearSystem"/>
<!-- <AddPluginRepository path="/home/divy/sofa_gl_ren" /> -->
<!-- <RequiredPlugin pluginName="Custom" /> -->
<!-- <AddPluginRepository path="/home/divy/SOfa_hapi" />
<RequiredPlugin pluginName="SofaHAPI" /> -->
<!-- <AddPluginRepository path="/home/piyush/Downloads/sofa_hapi_23.06" /> -->
<RequiredPlugin pluginName="SofaHAPI" />
<!--<AddPluginRepository path="/home/divy/build" />
<RequiredPlugin pluginName="MyAwesomeComponents" />-->
<!-- <RequiredPlugin pluginName="Haption" /> -->
<!-- <AddPluginRepository path="/home/divy/build_te/install/Tearing/lib" /> -->
<!-- <AddPluginRepository path="/home/piyush/Downloads/tearing_main_build/lib" /> -->
<!-- <AddPluginRepository path="/home/piyush/Downloads/extras/build/lib" /> -->
<RequiredPlugin name="Tearing"/>
<VisualStyle displayFlags= "hideBehaviorModels hideCollisionModels hideMappings hideForceFields"/>
<DefaultVisualManagerLoop />
<CollisionPipeline name="pipeline" depth="12" verbose="0" />
<GenericConstraintSolver resolutionMethod="UnbuildGaussSeidel" tolerance="1e-9" maxIt="400" printLog="0" multithreading="false"/>
<FreeMotionAnimationLoop />
<ParallelBruteForceBroadPhase/>
<ParallelBVHNarrowPhase/>
<!-- <MinProximityIntersection name="Proximity" alarmDistance="1.5" contactDistance="1" /> -->
<LocalMinDistance name="proximity" alarmDistance="0.06" contactDistance="0.04" angleCone="0.0" />
<DefaultContactManager name="Response" response="FrictionContactConstraint"/>
<LCPConstraintSolver tolerance="0.00001" maxIt="1000" />
<Node name="Omni">
<MechanicalObject name="DOFs" template="Rigid3d" position="0 0 0 0 0 0 0"/>
<HAPIHapticsDevice name="omniDriver1" scale="45" drawDevice="0" permanent="1" handleEventTriggersUpdate="true" positionBase="344 -85 -16" orientationBase="0.301 0.954 0.301 0.954" positionTool="0 1 0" orientationTool="0 0 0 1" />
</Node>
<Node name="TriangularFEMForceField">
<EulerImplicitSolver name="cg_odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" />
<CGLinearSolver name="linear_solver" iterations="25" tolerance="1.0e-12" threshold="1.0e-12" />
<MeshOBJLoader name="meshLoader" filename="/home/piyush/Downloads/membrane7_modofied_2.obj" scale="1.0" createSubelements="true"/>
<TriangleSetTopologyContainer name="Triangle_topo" src="@meshLoader"/>
<TriangleSetTopologyModifier name="Modifier" />
<TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" />
<MechanicalObject name="tissue_dofs" scale3d="1 1 1" dx="354.265" dy="-87.474" dz="-9.422"/>
<DiagonalMass massDensity="0.06511" />
<FixedConstraint name="fixedConstraint_membrane" indices="0 3 4 5 6 8 11 16 18 24 26 29 33 34 35 36 37 38 39 44 45 46 47 48 67 71 73 100 103 109 112 113 114 117 118 138 139 144 149 156 169 172 174 175 177 180 232 237 244 251 252 260 288 319 322 323 344 347 386 397 410 413 414 419 450 451 468 476 477 479 480 488 491 498 509 510 517 518 519 "/>
<!-- <FixedConstraint name="fixedConstraint_membrane" indices="512 513 2 514 3 1 0 4 518 9 521 520 12 13 10 15 11 17 18 14 21 25 5 28 29 30 31 32 33 34 546 38 1025 551 39 554 517 46 559 1027 560 561 563 564 565 55 56 57 58 59 569 1029 62 576 598 602 604 605 95 611 102 615 108 110 111 112 631 632 124 638 639 128 129 131 132 645 647 654 655 656 657 667 668 669 670 159 160 161 162 163 672 165 166 167 168 169 170 171 172 173 686 176 177 178 184 185 186 187 188 189 190 702 192 705 191 193 704 209 210 213 214 215 216 729 232 753 754 755 756 761 249 763 764 766 255 256 259 778 779 267 781 780 271 272 785 786 787 788 274 790 275 792 789 284 797 798 801 290 291 292 294 301 813 305 306 307 820 308 309 821 826 854 862 866 867 871 367 894 895 896 907 908 910 922 930 935 440 441 952 445 446 447 959 449 450 452 453 967 456 968 973 462 974 463 466 983 479 482 483 996 486 487 1000 1002 493 494 1006 496 497 1005 1007 1013 502 506 509 510 511"/> -->
<TriangularFEMForceField name="FEM" youngModulus="100000" poissonRatio="0.3" method="large"
showStressValue="false" showStressVector="false" showFracturableTriangles="false"
computePrincipalStress="true"/>
<TriangularBendingSprings name="FEM-Bend" stiffness="2000" damping="50.0"/>
<!-- <ConstantForceField indices="200 300 400" forces="0 0 100 0 0 100 0 0 100" /> -->
<ConstantForceField force="0 0 0" />
<LineCollisionModel group="0" name="CML" simulated="true" active="true" bothSide="true" moving="true" contactStiffness="10"/>
<PointCollisionModel group="0" name="CMP" simulated="true" active="true" bothSide="true" moving="true" contactStiffness="10"/>
<TriangleCollisionModel group="0" name= "TCM" simulated="true" active="true" bothSide="true" moving="true" contactStiffness="10"/>
<TearingEngine name="TearingEngine" input_position="@tissue_dofs.position" stressThreshold="0.0001"
step="40" nbFractureMax="50" fractureMaxLength="0.2" showFracturePath="true" showTearableTriangle="false"/> -->
<!-- showTearableTriangle="false" />
<UncoupledConstraintCorrection compliance="0.9" listening="true"/>
<Node name="Visu" showNormals="0">
<OglModel name="visu" texcoords="@../meshLoader.texcoords" texturename="/home/piyush/Downloads/mtex7_blue_color_corrected.png"/>
<IdentityMapping name="Mapping" input="@.." output="@visu" />
</Node>
</Node>
<Node name="Instrument2" activated="1">
<EulerImplicitSolver rayleighStiffness="0.1" rayleighMass="0.01" />
<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
<MechanicalObject name="instrumentState2" template="Rigid3d" tags="HaptionDevice" />
<UniformMass name="mass" totalmass="1.0" />
<LCPForceFeedback name = "LCPFF" activate="true" forceCoef="0.001" indice="0" />
<RestShapeSpringsForceField name="rssf" template="Rigid3d" stiffness="10000000" angularStiffness="20000000" external_rest_shape="@../Omni/DOFs" points="0" external_points="0" />
<UncoupledConstraintCorrection compliance="0.001 0.00003 0 0 0.00003 0 0.00003" />
<MeshOBJLoader name="meshLoader_cube" filename="/home/piyush/Downloads/cube.obj" handleSeams="1" scale="10.0" dx="354.265" dy="-87.474" dz="-9.422"/>
<OglModel name="InstrumentVisualModelCube" src="@meshLoader_cube" texcoords="@../meshLoader_cube.texcoords" texturename="/home/piyush/Downloads/mtex7_blue_color_corrected.png" ry="-180" rz="90" dz="-50.7" dx="0" dy="0.0"/>
</Node> -->
<Node name="VisualModel" activated="1">
<MeshOBJLoader name="meshLoader_2" filename="/home/piyush/Downloads/sphere_uv.obj" handleSeams="1" scale="0.1" />
<OglModel name="InstrumentVisualModel2" src="@meshLoader_2" texcoords="@../meshLoader_2.texcoords" texturename="/home/piyush/Downloads/uv_sphere_texture_noise_blue_ori_2.png" ry="0" rz="0" dz="-1.0" dx="0" dy="0"/>
<RigidMapping name="MM_VM_mapping2" input="@../instrumentState2" output="@InstrumentVisualModel2" />
</Node>
<Node name="CollisionModel" activated="1">
<MeshOBJLoader name="loader2" filename="/home/piyush/Downloads/sphere_uv.obj" scale="0.1" />
<MeshTopology src="@loader2" />
<MechanicalObject src="@loader2" name="instrumentCollisionState2" ry="0" rz="0" dz="-1.0" dx="0" dy="0"/>
<LineCollisionModel name="lcc1" contactStiffness="10" simulated="true" active="true" group="1"/>
<PointCollisionModel name="pcc1" contactStiffness="10" simulated="true" active="true" group="1"/>
<TriangleCollisionModel group="1" name= "tcc_uv" simulated="true" active="true" bothSide="true" moving="true" contactStiffness="10"/>
<!-- <SphereCollisionModel name="scc1" group="1" simulated="true" active="true" bothSide="true" moving="true" contactStiffness="10" /> -->
<RigidMapping name="MM_CM_mapping2" input="@../instrumentState2" output="@instrumentCollisionState2" />
</Node>
<Node name="VisualModel2">
<MeshOBJLoader name="meshLoader_3" filename="/home/piyush/Downloads/tool1_dhan_2_remodeled_11.obj" handleSeams="1" scale="0.1" />
<OglModel name="InstrumentVisualModel3" src="@meshLoader_3" texcoords="@../meshLoader_3.texcoords" texturename="/home/piyush/Downloads/stainless_steel_2.jpg" ry="-180" rz="90" dz="0.01" dx="0" dy="0" />
<RigidMapping name="MM_VM_mapping3" input="@../instrumentState2" output="@InstrumentVisualModel3" />
</Node>
<Node name="CollisionModel2" activated="0">
<MeshOBJLoader name="loader3" filename="/home/piyush/Downloads/tool1_dhan_2_remodeled_11.obj" scale="0.1" />
<MeshTopology src="@loader3" />
<MechanicalObject src="@loader3" name="instrumentCollisionState2" ry="-180" rz="-90" dz="0.01" dx="0" dy="0" />
<LineCollisionModel name="lcc2" contactStiffness="10" simulated="true" active="true" group="1"/>
<PointCollisionModel name="pcc2" contactStiffness="10" simulated="true" active="true" group="1"/>
<TriangleCollisionModel name="tcc1" group="1" simulated="true" active="true" moving="true" bothSide="true" contactStiffness="10" />
<RigidMapping name="MM_CM_mapping3" input="@../instrumentState2" output="@instrumentCollisionState2" />
</Node>
</Node>
</Node> |
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Could you also share some video of the technical issue? |
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Do not hesitate to take a look at the doc page of the LocalMinDistance collision detection method 🖐️ |
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I am working on a triangular mesh and trying to perform tearing using a haptic device. The first cut or tearing works but when I try to hit the boundary of the torn region to make the hole bigger it gives extremely large force feedback producing a jerk. Even after disabling force feedback the tool stops on the edge and does not move beyond the border of the torn region, but this is not the case in open areas where there is no cut.
Is this issue faced by other people and tell me if someone has found a solution to it. The issue is in the case of both Ubuntu and Windows, and in Haption as well as Geomagic haptic devices.
For the collision model, I am using Triangle, Line ,and Point in both the 3d models of my tool which performs the tearing and membrane that is to be cut. If any other details are needed please let me know.
Any help would be greatly appreciated.
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