23 October 2018 at 10 h 01 min #12257
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 h 36 min #12288
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?
Hugo30 October 2018 at 2 h 26 min #12298
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.
Suwan2 November 2018 at 16 h 50 min #12324
Have you tried my piece of code above?
I think this should work to add a new MechanicalObject translated as you desire.
Hugo2 November 2018 at 20 h 14 min #12327
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.
Suwan3 November 2018 at 3 h 17 min #12329
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.
Suwan14 November 2018 at 19 h 01 min #12446
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