Carving into model does not work when using another model

[Anonymous]

I was working with the SOFA Carving plugin and it was working perfectly. I tried to ad a tool to cut through the model instead of the point that is defined, but when I do that there is no more cutting just collision.

Here is my code:

<?xml version="1.0" ?>
<Node name="root" dt="0.05" showBoundingTree="0" gravity="0 0 0">
  <RequiredPlugin name="Carving" pluginName="SofaCarving" />

  <VisualStyle displayFlags="" />
  <CollisionPipeline verbose="0" />
  <BruteForceDetection name="N2" />
  <CollisionResponse response="default" />
  <MinProximityIntersection name="Proximity" alarmDistance="0.08" contactDistance="0.05" useSurfaceNormals="false"/>
  <CollisionGroup />

  <CarvingManager active="true"/>

  <Node name="TT">
    <EulerImplicit name="cg_odesolver" printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
    <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
    <MeshVTKLoader filename="data/mesh/prostate.vtk" name="loader" />
    <MechanicalObject src="@loader" name="Volume" />
    <include href="Objects/TetrahedronSetTopology.xml" src="@loader" />
    <DiagonalMass massDensity="0.5" />
    <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="360" poissonRatio="0.3" method="large" />
    <Node name="T">
      <include href="Objects/TriangleSetTopology.xml" />
      <Tetra2TriangleTopologicalMapping input="@../Container" output="@Container" />
      <TriangleSet />
      <Node name="Visu">
        <OglModel name="Visual" color="red" texturename="C:\Users\Fayad\Documents\sofa\Models\virtualLabco\prostate.png"/>
        <IdentityMapping input="@../../Volume" output="@Visual" />
      </Node>
    </Node>
  </Node>

  <Node name="Instrument" >
    <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
    <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" />
    <MechanicalObject name="instrumentState" template="Rigid" />
    <UniformMass name="mass" totalmass="0.05" />
    <LCPForceFeedback activate="true" forceCoef="0.001"/>
    <UncoupledConstraintCorrection/>
    <Node name="VisualModel" >
      <OglModel name="InstrumentVisualModel" fileMesh="mesh/dental_instrument.obj" color="blue" scale="0.05" />
      <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
    </Node>
    <Node name="CollisionModel" >
      <MeshObjLoader filename="mesh/dental_instrument.obj"  name="loader"/>
      <Mesh src="@loader" name="InstrumentCollisionModel" />
      <MechanicalObject src="@loader" name="instrumentCollisionState"  scale="0.05" />
      <Line name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Point name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Triangle name="instrument" tags="CarvingTool" contactStiffness="2" />
      <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
    </Node>
  </Node>

</Node>

[Anonymous]

I found out that only one point can do the carving into the model and not multiple, is there a way to make it the whole model instead of only one point?

[Hugo]

Hi @fayad

I am no expert from this plugin, I’ll try to find the answer (or someone who knows) for you 😉
Best

Hugo

[Binesh]

Dear @fayad
Your scene is incorrect
In instrument node you declare 3 CarvingTool and first CarvingTool is TlineModel so Carving Manager Component find Tline Model as Model Tool.
Carving Manager doesn’t support multiple tool (although i can give you our codes for multiple tools if you needed), so you must select one collision model for model tool

Best,

Behnam Binesh

[Anonymous]

I see, Then if you can give me the code for multiple models that would be great.

Thanks,
Fayad

[Anonymous]

Also if the code is incorrect, is this the right way of doing it:

<Point name="instrument" tags="CarvingTool" contactStiffness="2" />
<Line name="instrument" contactStiffness="2" />
<Triangle name="instrument" contactStiffness="2" />

or is it this way:
<Point name="instrument" tags="CarvingTool" contactStiffness="2" />

Because both ways did not produce any cutting so I am a little bit confused, thanks :).

Best,
Fayad

[Binesh]

Dear @fayad
in triangle topology modifier, removing triangles due to removing isolate point and edge,
my idea is set carving model tag to triangle model

Best,

Behnam Binesh

[Binesh]

Dear @fayad
i’m very busy, I will share the codes as soon as possible
I apologize for the delay
Best,

Behnam Binesh

[Hugo]

Dear @secretdevil @fayad

Note that @epernod is actively working in the current version of SOFA on topological changes (also needed in Carving). You can follow pull requests over here. Stay tuned.

Hugo

[Anonymous]

Hi @Binesh,

Yes please share it as soon as you can. Thank you so much.

Fayad

[Anonymous]

Hi @secretdevil,

Any updates about the code?

Best,
Fayad

[epernod]

Hi guys,

just going quickly through the scene example, I think the tag “CarvingSurface” is missing on the target collision Model.

Then the class TopologicalChangeManager can give you which combination of collision model can be used for carving.

And yes only one collision model at a time can be used for your tool.

regards,

[Author]

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