[SOLVED] tetra self collisions?

[chc2]

i was browsing the new code for sofa.

has tetra to tetra self collisions been implemented?

[jnbrunet]

There is a tetra collision model implemented in Sofa but it seems it can only collide with ray and point models:

modules/SofaMiscCollision/TetrahedronDiscreteIntersection.cpp

TetrahedronDiscreteIntersection::TetrahedronDiscreteIntersection(DiscreteIntersection* object)
    : intersection(object)
{
    intersection->intersectors.add<TetrahedronModel, PointModel,       TetrahedronDiscreteIntersection>  (this);
    intersection->intersectors.add<RayModel, TetrahedronModel,         TetrahedronDiscreteIntersection>  (this);
}

You can look at the following files for more information:

modules/SofaMiscCollision/TetrahedronDiscreteIntersection.cpp
modules/SofaMiscCollision/TetrahedronModel.cpp

There also is BarycentricDistanceLMConstraintContact, BarycentricPenalityContact and FrictionContact added for the tetra to tetra collision response, but I don’t know if you can get them to work without a proper intersector between two tetrahedra. Maybe someone with more knowledge about collisions in Sofa could clear this up for us.

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