Crashes After Contact

[jayyang]

I couldn’t figure out why this is the case after hours of searching, but my simulation often crashes immediately after contact. As a test case I have written Python script that puts a VTK mesh of a distal phalange above a floor. 1.24 simulation seconds after the phalange hits the floor, the simulation crashes. Would really appreciate some guidance on this issue!

The crash comes with this in the console:
Received signal 11 SEGV_MAPERR 0008018f9df8

# -*- coding: utf-8 -*-
import Sofa
from stlib.visuals import ShowGrid
from stlib.solver import DefaultSolver
from stlib.physics.rigid import Floor
from stlib.physics.deformable import ElasticMaterialObject
from stlib.physics.constraints import FixedBox
from stlib.scene import Node
from softrobots.actuators import PullingCable
from stlib.physics.collision import CollisionMesh
from splib.loaders import loadPointListFromFile

            
def DP(parentNode=None, name="DP",
           rotation=[0.0, 0.0, 0.0], translation=[0.0, 0.0, 0.0],
           fixingBox=[-5.0,0.0,0.0,10.0,15.0,20.0], pullPointLocation=[0.0,0.0,0.0]):
           
    dp = parentNode.createChild("DP")
    
    ### Mechanical model
    
    #totalMass = 0.37
    #volume = 373.77
    #inertiaMatrix = [1.0, 0.0, 0.0,
    #                 0.0, 1.0, 0.0,
    #                 0.0, 0.0, 1.0]
                     
    dp.createObject('MechanicalObject', name="DOF", template="Rigid3", translation=translation, rotation=rotation)
    
    #dp.createObject('UniformMass', name="vertexMass", vertexMass=[totalMass, volume, inertiaMatrix[:]])
    dp.createObject('UniformMass', template="Rigid3", totalMass=0.37)
    
    dp.createObject('UncoupledConstraintCorrection')
    #dp.createObject('LinearSolverConstraintCorrection')
    #dp.createObject('PrecomputedConstraintCorrection')
    
    dp.createObject('EulerImplicit', name='odesolver')
    dp.createObject('CGLinearSolver', name='Solver')
    
    visual = dp.createChild("DPVisual")
    
    visual.createObject('MeshVTKLoader', name='myLoader', filename="data/mesh/DPV2.vtk")
    
    visual.createObject('OglModel', name="Visual", src="@myLoader")
    
    visual.createObject('RigidMapping')
    
    collision = dp.createChild("DPCollisionModel")
    collision.createObject('MeshVTKLoader', name="myLoader", filename="data/mesh/DPV2.vtk", triangulate="true", scale=1.0)
    
    collision.createObject('Mesh', src="@myLoader")
    collision.createObject('MechanicalObject')
    
    collision.createObject('Triangle')
    collision.createObject('Line')
    collision.createObject('Point')
    
    collision.createObject('RigidMapping')
    
    return dp
    

def createScene(rootNode):
    from stlib.scene import MainHeader, ContactHeader
    m = MainHeader(rootNode, dt=0.01, gravity=[0.0, -981.0, 0.0],plugins=["SoftRobots"])
    #m.getObject("VisualStyle").displayFlags='showForceFields showBehaviorModels showInteractionForceFields'
    ContactHeader(rootNode, alarmDistance=8, contactDistance=3, frictionCoef=0.08)
    DP(rootNode, rotation=[0,0,0])
    floor = Floor(rootNode, name="Floor", translation=[0.0, -200.0, 0.0], uniformScale=1.0, isAStaticObject=True)
    #createMesh(rootNode)
    return rootNode

[Hugo]

Hi @jayyang

I am really sorry, I am not at ease with the STL lib. Does this issue ring a bell to you @damien-marchaluniv-lille1-fr ?
Best wishes,

Hugo

[Author]

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