SOFA - Topic: [SOLVED] How to give offset distance of collision in geomagic haptic simulation

Tagged: 64_bits, SOFA_1806, Windows_10

This topic has 6 replies, 2 voices, and was last updated 7 years ago by Hugo.

Viewing 7 posts - 1 through 7 (of 7 total)

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23 October 2018 at 10:01 #12257

Suwan
Blocked

Hello,

I am using SOFA geomagic plugin and my device is Geomagic Touch X.
I refered SOFA examples.
I am making a scene that touches a softbody by a tool with geomaic haptic.
Then center of mass of the tool is the tip of the tool as showen figure.

I want to move center of mass to the handle of the tool.
So I hope to simulate touching a softbody with grasping the tool.
In other words, the handle of haptic is that of the tool.

Please let me know if you have any idea!

Thank you in advance.

29 October 2018 at 13:36 #12288
Hugo
Keymaster
Dear @suwan,

The Geomagic driver only returns the base and the tool tip positions and orientations. However, based on this information, you can easily create a translated frame (on the handle of the tool) by applying a translation in the x direction (from your picture):
```
<GeomagicDriver name="GeomagicDevice" deviceName="Default Device" positionBase="0 0 0" orientationBase="0 0.707 0 -0.707"  /> 
..

<Node name="anotherSubNode">
	<MechanicalObject name="translatedFrame" template="Rigid" position="@../GeomagicDevice.positionDevice" translation="1 0 0" />
</Node>
```
Let me know if this is what you intend to do?
Best,

Hugo
30 October 2018 at 02:26 #12298

Suwan
Blocked

Dear @Hugo

As I know, collision point of geomagic haptic in SOFA is regarded as showen figure,
.

However, I want to simulate as showen figure,
.

Please let me know if not satisfied with my explanation.

Best regards,
Suwan

2 November 2018 at 16:50 #12324

Hugo
Keymaster

Dear @suwan,

Have you tried my piece of code above?
I think this should work to add a new MechanicalObject translated as you desire.

Best

Hugo

2 November 2018 at 20:14 #12327

Suwan
Blocked

Dear @hugo

I have tried your code snippet, but failed.
Could you suggest how I have to add a new MechanicalObject translated for solving it?
Sorry I am still a beginner in SOFA.

Best regards,
Suwan

3 November 2018 at 03:17 #12329

Suwan
Blocked

Dear @hugo

I solved the case.

I translated a collision model and a visual model, and didn’t the MechanicalObject of Geomagic.
It worked even though the simulation didn’t look good.
Please let me know if you have any comments.
Thank you so much.

Best regards,
Suwan

14 November 2018 at 19:01 #12446

Hugo
Keymaster

Dear @suwan,

Thanks for letting us know about your solution!
Best

Hugo
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