[SOLVED] Geomagic Plugin in cpp with SofaCarving

[Harris]

Hi,
I am making a simulation in c++ and I am trying to combine SofaCarving and Geomagic Plugins(the latest ).While SofaCarving worked well(using CarvingManager), Geomagic produces the following error:

LNK2019 Error unresolved external symbol “public: __cdecl sofa::component::controller::GeomagicDriver::GeomagicDriver(void)” 
(??0GeomagicDriver@controller@component@sofa@@QEAA@XZ) referenced in function “public: __cdecl sofa::core::objectmodel::New::New(void)” 
(??$?0$$V@?$New@VGeomagicDriver@controller@component@sofa@@@objectmodel@core@sofa@@QEAA@XZ) runSofa

I added Geomagic.lib (properties->linker->input) but the problem still exists.
My code in c++ is the following:

sofa::component::controller::GeomagicDriver::SPtr geomDriver= sofa::core::objectmodel::New();
geomDriver->setName(“GeomagicDevice”);
geomDriver->d_deviceName.setValue(“Default Device”);
geomDriver->d_scale.setValue(1);
geomDriver->d_frameVisu.setValue(true);
geomDriver->d_positionBase.setValue(sofa::defaulttype::Vector3(0, 0, 0));
//drawDevice
geomDriver->d_orientationBase.setValue(sofa::defaulttype::Quat(0, 0.707, 0,-0.707));
groot->addObject(geomDriver);

I ran the demo Geomagic-FEM in XML and it works.
Could you help me solve this problem?

Thank you,
Harris

[Hugo]

Hi Harris

instead of your first line:

sofa::component::controller::GeomagicDriver::SPtr geomDriver= sofa::core::objectmodel::New();

I would write:

sofa::component::controller::GeomagicDriver::SPtr geomDriver = addNew<sofa::component::controller::GeomagicDriver>(groot);

This should work.
Best,

Hugo

[Harris]

Hi Hugo,

I wrote :

sofa::component::controller::GeomagicDriver::SPtr geomDriver = sofa::modeling::addNew <sofa::component::controller::GeomagicDriver>(groot);

but now I have the following error:

LNK2019 Error unresolved external symbol “public: __cdecl sofa::component::controller::GeomagicDriver::GeomagicDriver(void)”
(??0GeomagicDriver@controller@component@sofa@@QEAA@XZ) referenced in function “public: __cdecl sofa::modeling::addNew<class sofa::component::controller::GeomagicDriver>::addNew<class sofa::component::controller::GeomagicDriver>(class boost::intrusive_ptr<class sofa::simulation::Node>,char const *)”
(??0?$addNew@VGeomagicDriver@controller@component@sofa@@@modeling@sofa@@QEAA@V?$intrusive_ptr@VNode@simulation@sofa@@@boost@@PEBD@Z)

Thank you for your time,
Harris

[Hugo]

Hi Harris,

Is this c++ code somewhere in one of your own plugins?
If yes, did you check in the CMakeLists.txt of this plugin that it correctly depends on the Geomagic plugin?

Hugo

[Harris]

Hi Hugo,

No, I wrote this code in runSofa project in Main.cpp.
I only added additional dependencie : Geomagic.lib and the
I did the same for the SofaCarving and I did not had a problem.

Harris

[Hugo]

Hi Harris

You mean that you add in the simulation created in runSofa, new components like the GeomagicDriver?

And what do you mean exactly by “I did the same for the SofaCarving and I did not had a problem”. Could you show the corresponding lines of code?

Instead of overwriting runSofa, I would rather advise you later to create your own plugin/applications separately from SOFA. See the doc.

Cheers

Hugo

[Harris]

Hi Hugo,

Yes I tried to implement Geomagic-FEMLiver.scn (the whole scene) in c++ to see how it works because I need it in my c++ application.

Before I implemented in c++ the SimpleCarving_withPenetration.scn (the whole scene) without errors.
Here is the code:

sofa::component::collision::CarvingManager::SPtr carv= sofa::core::objectmodel::New<sofa::component::collision::CarvingManager>();
carv->d_active.setValue(true);
carv->d_carvingDistance.setValue(-0.09);
carv->setName(“carving”);
groot->addObject(carv);

I also added the CarvingSurface and CarvingTool.

In addition, before start implementing the components of the scene I wrote this code for loading the plugins:

vector<string> plugins;

//ADD PLUGINS: SofaCarving , Geomagic

plugins.push_back(“SofaCarving”);
plugins.push_back(“Geomagic”);
and the plugins are loaded.

I know I have to create my own plugin but for now I wanted to just check if I can implement all the components that I need in cpp.

Harris

[Harris]

Hi Hugo,

I just informed by Eric Pernod from InfinityTech3D that there is a bug in the export dll of sofa geomagic plugin and tha it will be fixed in this week.

Best,
Harris

[Hugo]

Hi Harris,

As Erik wrote you privately, it might be related to a current issue with the Geomagic plugin. A PR will be done within the week. Stay tuned, you’ll be able to test the fix very soon.

Cheers

Hugo

[Harris]

Hi,

I tested the fix and now I do not have a problem.

However, I can’t write the following XML line:

<MechanicalObject template=”Rigid” name=”DOFs” position=”@GeomagicDevice.positionDevice”/>

in cpp.I can’t find a way to add a tag to the position of the MechanicalObject.

Could you help me?

Thank you,
Harris

[Hugo]

Hi @hkomninos,

When you say that you can’t write, what kind of error do you get?

Hugo

[Harris]

Hi Hugo,

I don’t get an error but as I ran the Geomagic-FEMLiver.scn,I saw in the node of the Mechanical object that its position is the same with @GeomagicDevice.positionDevice.So I want to do the same in cpp but I can not make this connection between Mechanical Object and Geomagic Device.

Harris

[Harris]

Hi,

I solved the problem that I asked in the previous post.

Now, I can move the device in the scene but when the device collides with an object of the scene, I have the following error:

Exception thrown at 0x00007FFCCE6BF070 (SofaBaseMechanics.dll) in runSofa.exe: 0xC0000005: Access violation reading location 0x00000000000007F8.

I tried to write in cpp all the components decribed in: Geomagic-RigidSkull.scn and only the component “FreeMotionAnimationLoop” I couldn’t write.(I had an error with the constructor)

Could you help me fix this error?

Thank you,
Harris

[Hugo]

Hi @hkomninos,

it appears that you are having an issue due to an wrong access in memory (un-initialized vector, or pointer). The creation of the FreeMotionAnimationLoop should not be an issue in cpp. Could you share with us you cpp scene ?

Best

Hugo

[Harris]

Hi Hugo,

here is my cpp scene:

Node::SPtr groot = sofa::simulation::getSimulation()->createNewGraph("Root");
		groot->setGravity(sofa::defaulttype::Vector3(0, -9.81, 0));
		groot->setDt(0.005);

		sofa::component::visualmodel::VisualStyle::SPtr style = sofa::core::objectmodel::New<sofa::component::visualmodel::VisualStyle>();
		sofa::core::visual::DisplayFlags& flags = *style->displayFlags.beginEdit();
		flags.setShowCollisionModels(true);
		flags.setShowVisualModels(false);
		style->displayFlags.endEdit();
		groot->addObject(style);

		sofa::component::collision::DefaultPipeline::SPtr pipeline = sofa::core::objectmodel::New<sofa::component::collision::DefaultPipeline>();
		pipeline->setName("CollisionPipeline");
		pipeline->d_depth.setValue(6);
		groot->addObject(pipeline);

		sofa::component::collision::BruteForceDetection::SPtr bruteforce = sofa::core::objectmodel::New<sofa::component::collision::BruteForceDetection>();
		bruteforce->setName("N2");
		groot->addObject(bruteforce);

		sofa::component::collision::DefaultContactManager::SPtr response = sofa::core::objectmodel::New<sofa::component::collision::DefaultContactManager>();
		response->setName("Collision Response");
		response->setDefaultResponseType("FrictionContact");
		//response->response.setName("FrictionContact");
		groot->addObject(response);
sofa::component::collision::LocalMinDistance::SPtr localMinDist = sofa::core::objectmodel::New<sofa::component::collision::LocalMinDistance>();
		localMinDist->setName("Proximity");
		localMinDist->alarmDistance.setValue(0.15);
		localMinDist->contactDistance.setValue(0.05);
		localMinDist->angleCone.setValue(0.0);
		//localMinDist->coneFactor.setValue(0.5);
		groot->addObject(localMinDist);

sofa::component::constraintset::LCPConstraintSolver::SPtr lpcSolver = sofa::core::objectmodel::New<sofa::component::constraintset::LCPConstraintSolver>();
		lpcSolver->tol.setValue(0.001);
		lpcSolver->maxIt.setValue(1000);
		lpcSolver->mu.setValue(0.6);
		groot->addObject(lpcSolver);

		sofa::component::controller::GeomagicDriver::SPtr geomDriver = sofa::core::objectmodel::New<sofa::component::controller::GeomagicDriver>();
		geomDriver->setName("GeomagicDevice");
		geomDriver->d_deviceName.setValue("Default Device");
		geomDriver->d_scale.setValue(1);
		geomDriver->d_frameVisu.setValue(true);
		geomDriver->d_positionBase.setValue(sofa::defaulttype::Vector3(0, 0, 0));	
		geomDriver->d_orientationBase.setValue(sofa::defaulttype::Quat(0, 0.707, 0, - 0.707));
		geomDriver->f_listening.setValue(true);
		groot->addObject(geomDriver);

/*-----------------Rigid Obj----------------------------------------*/
	
sofa::simulation::Node::SPtr thoracNode = groot.get()->createChild("Rigid-SKull");
//Collision
		sofa::simulation::Node::SPtr thoracsurf = thoracNode.get()->createChild("Thorac Surf");

		//ObjLoader (coarser)
		sofa::component::loader::MeshObjLoader::SPtr thoracLoader = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		thoracLoader->setFilename(sofa::helper::system::DataRepository.getFile("mesh/diploma/liver-smooth.obj"));
		thoracLoader->load();
		thoracsurf->addObject(thoracLoader);

		//Topology
		sofa::component::topology::MeshTopology::SPtr thoracTopology = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		thoracTopology->setSrc("", thoracLoader.get());
		thoracsurf->addObject(thoracTopology);

		//Mechanical Obj
		MechanicalObject3::SPtr thoracMech = sofa::core::objectmodel::New<MechanicalObject3>();
		thoracMech->setName("instrumentCollisionState");
		thoracMech->setSrc("", thoracLoader.get());
		thoracMech->setTranslation(0, 0, 10);
		thoracsurf->addObject(thoracMech);

		//Triangle
		TTriangle_3::SPtr thoracTrian = sofa::core::objectmodel::New<TTriangle_3>();
		thoracTrian->setName("Triangles");
		thoracTrian->setContactStiffness(100);
		thoracTrian->setContactFriction(0.01);
		thoracTrian->setSimulated(false);
		thoracTrian->setMoving(false);
		thoracsurf->addObject(thoracTrian);

		//Line 
		TLine_3::SPtr thoracLines = sofa::core::objectmodel::New<TLine_3>();
		thoracLines->setName("Lines");
		thoracLines->setContactStiffness(100);
		thoracLines->setSimulated(false);
		thoracLines->setContactFriction(0.01);

		thoracLines->setMoving(false);
		thoracsurf->addObject(thoracLines);

		//Point
		TPoint_3::SPtr thoracPoints = sofa::core::objectmodel::New<TPoint_3>();
		thoracPoints->setName("Points");
		thoracPoints->setContactStiffness(100);
		thoracPoints->setContactFriction(0.01);

		thoracPoints->setSimulated(false);
		thoracPoints->setMoving(false);
		thoracsurf->addObject(thoracPoints);

/*---------------------------Omni---------------------------------------------------*/

		sofa::simulation::Node::SPtr carvingElement = groot.get()->createChild("Omni");

		MechanicalObjectRigid3::SPtr dofRigid = sofa::core::objectmodel::New<MechanicalObjectRigid3>();
		dofRigid->setName("DofsRigid");
		dofRigid->x.setParent(geomDriver->d_posDevice.getData());
		carvingElement->addObject(dofRigid);

		//MechanicalStateController
		sofa::component::controller::MechanicalStateController<sofa::defaulttype::Rigid3dTypes>::SPtr controller = sofa::core::objectmodel::New<sofa::component::controller::MechanicalStateController<sofa::defaulttype::Rigid3dTypes>>();
		controller->f_listening.setValue(true);
		controller->setMainDirection(sofa::defaulttype::Vec3d(-1, 0, 0));
		controller->handleEventTriggersUpdate.setValue(true);
		carvingElement->addObject(controller);

		sofa::simulation::Node::SPtr visuAvatar = carvingElement.get()->createChild("VisuAvatar");
		visuAvatar->setActive(false);
		OglModel::SPtr visual1 = sofa::core::objectmodel::New<OglModel>();
		visual1->setName("Visual");
		visual1->load(sofa::helper::system::DataRepository.getFile("mesh/sphere.obj"), "", "");
		visual1->setColor("gray");
		visual1->setScale(0.1, 0.1, 0.1);
		visuAvatar->addObject(visual1);

		//RigidMapping
		RigidMapping_Rigid_to_Extevec3F::SPtr rigidMap2 = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Extevec3F>();
		rigidMap2->setName("VM Mapping");
		rigidMap2->setModels(dofRigid.get(), visual1.get());
		visuAvatar->addObject(rigidMap2);

		sofa::simulation::Node::SPtr refModel = carvingElement.get()->createChild("RefModel");

		sofa::component::loader::MeshObjLoader::SPtr loaderFixed = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderFixed->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderFixed->load();
		refModel->addObject(loaderFixed);

		sofa::component::topology::MeshTopology::SPtr meshTorusFEM = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshTorusFEM->setSrc("", loaderFixed.get());
		refModel->addObject(meshTorusFEM);

		MechanicalObject3::SPtr instrumentColState = sofa::core::objectmodel::New<MechanicalObject3>();
		instrumentColState->setName("instrumentCollisionState");
		instrumentColState->setSrc("", loaderFixed.get());
		instrumentColState->setRotation(0, -180, -90);
		instrumentColState->setTranslation(-0.3, 0, 3.5);
		refModel->addObject(instrumentColState);

		RigidMapping_Rigid_to_Vec3d::SPtr rigidMap3 = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMap3->setModels(dofRigid.get(), instrumentColState.get());

		refModel->addObject(rigidMap3);

		sofa::simulation::Node::SPtr refModelRight = carvingElement.get()->createChild("RefModelRight");

		sofa::component::loader::MeshObjLoader::SPtr loaderFixedright = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderFixedright->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderFixedright->load();
		refModelRight->addObject(loaderFixedright);

		sofa::component::topology::MeshTopology::SPtr meshTorusFEMRight = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshTorusFEMRight->setSrc("", loaderFixedright.get());
		refModelRight->addObject(meshTorusFEMRight);

		MechanicalObject3::SPtr instrumentColStateRight = sofa::core::objectmodel::New<MechanicalObject3>();
		instrumentColStateRight->setName("instrumentCollisionState");
		instrumentColStateRight->setSrc("", loaderFixedright.get());
		instrumentColStateRight->setRotation(0, -180, -90);
		instrumentColStateRight->setTranslation(-0.3, 0.5, 3.5);
		refModelRight->addObject(instrumentColStateRight);

		RigidMapping_Rigid_to_Vec3d::SPtr rigidMap3right = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMap3right->setModels(dofRigid.get(), instrumentColStateRight.get());

		refModelRight->addObject(rigidMap3right);

		sofa::simulation::Node::SPtr refModelleft = carvingElement.get()->createChild("RefModelLeft");

		sofa::component::loader::MeshObjLoader::SPtr loaderFixedleft = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderFixedleft->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderFixedleft->load();
		refModelleft->addObject(loaderFixedleft);

		sofa::component::topology::MeshTopology::SPtr meshTorusFEMleft = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshTorusFEMleft->setSrc("", loaderFixedleft.get());
		refModelleft->addObject(meshTorusFEMleft);

		MechanicalObject3::SPtr instrumentColStateleft = sofa::core::objectmodel::New<MechanicalObject3>();
		instrumentColStateleft->setName("instrumentCollisionState");
		instrumentColStateleft->setSrc("", loaderFixedleft.get());
		instrumentColStateleft->setRotation(0, -180, -90);
		instrumentColStateleft->setTranslation(-0.3, -0.5, 3.5);
		refModelleft->addObject(instrumentColStateleft);

		RigidMapping_Rigid_to_Vec3d::SPtr rigidMap3left = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMap3left->setModels(dofRigid.get(), instrumentColStateleft.get());
		refModelleft->addObject(rigidMap3left);

/*------------------------Instrument---------------------------------------------*/		
		sofa::simulation::Node::SPtr instrum = groot.get()->createChild("Instrument");
		
		EulerImplicitSolver::SPtr solverInstrum = sofa::core::objectmodel::New<EulerImplicitSolver>();
		solverInstrum->setName("ODE solver");
		solverInstrum->f_rayleighStiffness.setValue(0.05);
		solverInstrum->f_rayleighMass.setValue(1.0);
		instrum->addObject(solverInstrum);
	

		CGLinearSolver3::SPtr linearSolverIntrum = sofa::core::objectmodel::New<CGLinearSolver3>();
		linearSolverIntrum->setName("linear solver");
		linearSolverIntrum->f_maxIter.setValue(25);
		linearSolverIntrum->f_tolerance.setValue(1e-10);
		linearSolverIntrum->f_smallDenominatorThreshold.setValue(10e-10);
		instrum->addObject(linearSolverIntrum);

		MechanicalObjectRigid3::SPtr dofRigidInstrum = sofa::core::objectmodel::New<MechanicalObjectRigid3>();
		dofRigidInstrum->setName("instrumentState");
		dofRigidInstrum->x.setParent(geomDriver->d_posDevice.getData());
		instrum->addObject(dofRigidInstrum);

		UniformMassRigid3::SPtr uniMassCarvInstrum = sofa::core::objectmodel::New<UniformMassRigid3>();
		uniMassCarvInstrum->setTotalMass(0.05);
		uniMassCarvInstrum->setName("Mass");
		instrum->addObject(uniMassCarvInstrum);

		sofa::component::controller::LCPForceFeedback<sofa::defaulttype::Rigid3dTypes>::SPtr lcpContr = sofa::core::objectmodel::New<sofa::component::controller::LCPForceFeedback<sofa::defaulttype::Rigid3dTypes>>();
		lcpContr->f_activate.setValue(true);
		lcpContr->forceCoef.setValue(0.001);
		instrum->addObject(lcpContr);

		sofa::component::constraintset::UncoupledConstraintCorrection<sofa::defaulttype::Rigid3dTypes>::SPtr constrUncoup=
			sofa::core::objectmodel::New<sofa::component::constraintset::UncoupledConstraintCorrection<sofa::defaulttype::Rigid3dTypes>>();
			
		instrum->addObject(constrUncoup);
		sofa::simulation::Node::SPtr collModelInstrument = instrum.get()->createChild("CollisionModel");

		sofa::component::loader::MeshObjLoader::SPtr loaderColl = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderColl->setName("loader");
		loaderColl->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderColl->load();
		collModelInstrument->addObject(loaderColl);

		sofa::component::topology::MeshTopology::SPtr meshColl = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshColl->setSrc("", loaderColl.get());
		collModelInstrument->addObject(meshColl);

		MechanicalObject3::SPtr mechColl = sofa::core::objectmodel::New<MechanicalObject3>();
		mechColl->setName("instrumentCollisionState");
		mechColl->setSrc("", loaderColl.get());
		mechColl->setRotation(0, -180, -90);
		mechColl->setTranslation(-0.3, 0, 3.5);
		collModelInstrument->addObject(mechColl);

		//Lines
		TLine_3::SPtr line_coll_instr = sofa::core::objectmodel::New<TLine_3>();
		line_coll_instr->setName("Lines");
		line_coll_instr->setContactStiffness(10.0);
		line_coll_instr->setContactFriction(0.01);
		collModelInstrument->addObject(line_coll_instr);

		//Points
		TPoint_3::SPtr points_col_instr = sofa::core::objectmodel::New<TPoint_3>();
		points_col_instr->setName("Points");
		points_col_instr->setContactStiffness(10.0);
		points_col_instr->setContactFriction(0.01);

		collModelInstrument->addObject(points_col_instr);

		//RigidMapping
		RigidMapping_Rigid_to_Vec3d::SPtr rigidMapInstrCol = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMapInstrCol->setName("VM Mapping");
		rigidMapInstrCol->setModels(dofRigidInstrum.get(), mechColl.get());
		collModelInstrument->addObject(rigidMapInstrCol);
	
		//Right

		sofa::simulation::Node::SPtr collModelInstrumentRight = instrum.get()->createChild("RefModelRight");

		sofa::component::loader::MeshObjLoader::SPtr loaderCollRight = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderCollRight->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderCollRight->load();
		collModelInstrumentRight->addObject(loaderCollRight);

		sofa::component::topology::MeshTopology::SPtr meshCollRight = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshCollRight->setSrc("", loaderCollRight.get());
		collModelInstrumentRight->addObject(meshCollRight);

		MechanicalObject3::SPtr mechCollRight = sofa::core::objectmodel::New<MechanicalObject3>();
		mechCollRight->setName("instrumentCollisionState");
		mechCollRight->setSrc("", loaderCollRight.get());
		mechCollRight->setRotation(0, -180, -90);
		mechCollRight->setTranslation(-0.3, 0.5, 3.5);
		collModelInstrumentRight->addObject(mechCollRight);

		//RigidMapping
		RigidMapping_Rigid_to_Vec3d::SPtr rigidMapInstrColRight = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMapInstrColRight->setName("VM Mapping");
		rigidMapInstrColRight->setModels(dofRigidInstrum.get(), mechCollRight.get());
		collModelInstrumentRight->addObject(rigidMapInstrColRight);

		//Left 

		sofa::simulation::Node::SPtr collModelInstrumentLeft = instrum.get()->createChild("RefModelLeft");

		sofa::component::loader::MeshObjLoader::SPtr loaderCollLeft = sofa::core::objectmodel::New<sofa::component::loader::MeshObjLoader>();
		loaderCollLeft->setFilename(sofa::helper::system::DataRepository.getFile("mesh/dental_instrument_centerline.obj"));
		loaderCollLeft->load();
		collModelInstrumentLeft->addObject(loaderCollLeft);

		sofa::component::topology::MeshTopology::SPtr meshCollLeft = sofa::core::objectmodel::New<sofa::component::topology::MeshTopology>();
		meshCollLeft->setSrc("", loaderCollLeft.get());
		collModelInstrumentLeft->addObject(meshCollLeft);

		MechanicalObject3::SPtr mechCollLeft = sofa::core::objectmodel::New<MechanicalObject3>();
		mechCollLeft->setName("instrumentCollisionState");
		mechCollLeft->setSrc("", loaderCollLeft.get());
		mechCollLeft->setRotation(0, -180, -90);
		mechCollLeft->setTranslation(-0.3, -0.5, 3.5);
		collModelInstrumentLeft->addObject(mechCollLeft);

		//RigidMapping
		RigidMapping_Rigid_to_Vec3d::SPtr rigidMapInstrColLeft = sofa::core::objectmodel::New<RigidMapping_Rigid_to_Vec3d>();
		rigidMapInstrColLeft->setName("VM Mapping");
		rigidMapInstrColLeft->setModels(dofRigidInstrum.get(), mechCollLeft.get());
		collModelInstrumentLeft->addObject(rigidMapInstrColLeft);

		//VectorSpringForceField
		sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>::SPtr vSpringForc =
			sofa::core::objectmodel::New<sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>>();
		//vSpringForc->addTag()
		vSpringForc->setPathObject1("@Omni/RefModel/instrumentCollisionState");
		vSpringForc->setPathObject2("@Instrument/CollisionModel/instrumentCollisionState");
		vSpringForc->m_stiffness.setValue(10);
		vSpringForc->m_viscosity.setValue(0);
		instrum->addObject(vSpringForc);

		sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>::SPtr vSpringForc2 =
			sofa::core::objectmodel::New<sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>>();

		vSpringForc2->setPathObject1("@Omni/RefModelRight/instrumentCollisionState");
		vSpringForc2->setPathObject2("@Instrument/RefModelRight/instrumentCollisionState");
		vSpringForc2->m_stiffness.setValue(10);
		vSpringForc2->m_viscosity.setValue(0);
		instrum->addObject(vSpringForc2);

		sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>::SPtr vSpringForc3 =
			sofa::core::objectmodel::New<sofa::component::interactionforcefield::VectorSpringForceField<sofa::defaulttype::Vec3dTypes>>();

		vSpringForc3->setPathObject1("@Omni/RefModelLeft/instrumentCollisionState");
		vSpringForc3->setPathObject2("@Instrument/RefModelLeft/instrumentCollisionState");
		vSpringForc3->m_stiffness.setValue(10);
		vSpringForc3->m_viscosity.setValue(0);
		instrum->addObject(vSpringForc3);

In order to link the position of GeomagicDriver with the position og mechanical object(“Instrument”) I wrote:
“dofRigidInstrum->x.setParent(geomDriver->d_posDevice.getData());”
Is it possible when the objects (Rigid and Instrument) collide, mechanicalInstrument to conflict between the response of the collision and the position of the GeomagicDevice?

Thank you for your time,
Harris

[Wong]

Hi @hkomninos,

FreeMotionAnimationLoop::SPtr loop = sofa::core::objectmodel::New<FreeMotionAnimationLoop>(groot.get());
	loop->setName("Loop");
	groot->addObject(loop);

[Harris]

Hi @outtt,

Thank you for your help.Now I can use the haptic device.

Also, I want to do the carving with the hatic device.
I observed that “CollisionResponse” response=”default” in SofaCarving plugin but response=”FrictionContact” in Geomagic plugin.

If I use response=”FrictionContact”,I get the following error when the carvingTool collides with carvingSurface:

Exception thrown at 0x00007FFF80F9B9BA (SofaConstraint.dll) in runSofa.exe: 0xC0000005: Access violation reading location 0x0000000000000000.

Could you help me fix this?

Thank you,
Harris

[Harris]

Hi,

I solved the problems that I had before.

I would like to know how the component: “PrecomputedConstraintCorrection” works.
Is there any related paper which describes the functionality of this component?

Best
Harris

[Hugo]

Hi @hkomninos,

how did you solve your issue? what was the problem?

Regarding the PrecomputedConstraintCorrection, you can find some explanation in the updated doc.

I think the paper entitled “GPU-based real-time soft tissue deformation with cutting and haptic feedback” used it.

Best,

Hugo

[Hugo]

Since it is solved, I mark it solved.
Do not hesitate to let me know whether the links were useful or the reason of your previous issue.

Best

Hugo

[Harris]

Hi Hugo,

I solved the problem that I mentioned in a previous message and some issues with the distance of the collision in Geomagic.

Also,thank you for the links I will check if the algorithms are exactly the same in a few days.
Could I ask you here for more theoretical and software issues in the future?

Best,
Harris

[Author]

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