epernod

Hi,

I’m sorry @hugo, I’m not using this plugin. Maybe it has been broken by recent changes in OglModel. You should check if it is compiled by default on SOFA CI.

Best regards,

Hi,

I’m sorry but without more information I can’t help. Is it possible to have the call stack before the crash or/and the console output.

The scene structure could also help.

Best regards,

Hi,

I see several potential problems:

1. The topology mapping check in the loop is important, why did you commented it?
2. In the node where your triangleCollisionModel is located, the topology object is MeshTopology which is for static topology, so it won’t handle carving.
3. You are using a barycentric mapping between 2 triangulation, we are…[Read more]

Hi @davacas,

yes this is logical that you get the same force feedback in both tools because if you don’t specify which LCPForceFeedback to look for in your GeomagicDriver, it will take the first one found while parsing your scene.
To avoid that you have to specify in each GeomagicDriver:

`
<GeomagicDriver name=”GeomagicDeviceRight”…[Read more]

hi,

yes I saw that as well. Indeed the mesh file used in this tutorial need some cleanup. The errors notify that some topological element are not created but in this mesh they correspond to duplicated elements. This is not affecting the tutorial behavior.

I’ll clean it up when I have 2 mins.

best,

Hi,

to use the Geomagic you have to install first the openHaptics library (where this header is located).
Please see the documentation related to the Geomagic plugin in SOFA: https://www.sofa-framework.org/community/doc/plugins/usual-plugins/geomagic/

Best regards,

Hi,

as I said, the Algorithm to cut triangular mesh are available but from given input coordinates (like from an arbitrary point A (x, y, z) to a point B).
So in your case for rupture, you will need to detect where the cut takes place.
This means to implement a Forcefield or an Engine that will detect elongated triangles and break them as soon…[Read more]

Hi,

I see several steps to do what you want. Could you tell what you already have:
1. Do you already have a simulation of the Geomagic Touch deforming the membrane ? Everything is ready in SOFA to do that but in my knowledge there is no such example in the repository.
2. Do you already have the triangular mesh ruptured ? If yes I would be…[Read more]

Hi,

yes this is a “not easy” subject, it would be better to discuss that in another thread with the appropriate title.
Pock me again on that one.

Erik

Hi,

I started fixing it but in fact it has already been done 2 weeks ago:

https://github.com/SofaDefrost/SoftRobots/pull/56

best,

Hi,

d_componentState has been recently changed into a Data for future works on Data flow.

You have to change:
d_componentState != ComponentState::Valid
into
d_componentState.getValue() != ComponentState::Valid

and
d_componentState = ComponentState::Valid;
into
d_componentState.setValue(ComponentState::Valid);

We will propagate the change in…[Read more]

Could you point the website please. I can’t find it. I’m interested to see the last versions

So I don’t know exactly what the geometry of this tool, but from what I see in the code, here are the Data to be considered:

Data<Vec3d> positionBase; ///< Position of the interface base in the scene world coordinates
Data<Quat> orientationBase; ///<…[Read more]

Hi,

sorry I never used the SofaHAPI plugin but to what I see it should be very similar to the Geomagic Plugin.

Which scene are you using, could you share the code and maybe screenshot of the result. There should be a Data referring to the origin of the tool at start.

I’m curious, is it a recent Novint Falcon? Is this device still on sail?

Erik

Hi,

I’m not expert in Rigid and RigidMapping but I think in your case you need to define which indices of your visual mesh is mapped to each rigid dof using the option rigidIndexPerPoint of the RigidMapping.

I think this scene is similar to what you want to do:…[Read more]

Hi @Singh,

you are right, the force is working but is very small. A change of behavior has been introduced in the last release. We will correct it in the incoming week.

In the mean time, to recover the good behavior of the v19.06, in the .scn files you are using, for example “Geomagic-RigidCubes.scn” change all…[Read more]

Hi,

yes in the SofaSphFluid public plugin: https://github.com/sofa-framework/sofa/tree/master/applications/plugins/SofaSphFluid

best,

Erik

Hi,

there is no direct way to display the force vector sent to the haptic tool. As the haptic and the rendering loops do not have the same frequency, it won’t be accurate to draw this force.
However, in runSofa you can see the interaction between the tool and the colliding object through View pannel, Behavior->Interactions

Best,

Erik

Hi,

I’m sorry, the geomagic Emulator is still work in progress. But it doesn’t need a Geomagic tool to be connected, you just need the OpenHaptics library.
Then it is possible to use the key to move the virtual tip.

If you wnat to use the mouse I would recommand to use a MechanicalStateController. There is an example scene.

Best regards,

Hi @pasquale94,

sorry while reading again this doc page, I noticed an important information is missing.

You need to hold the Shift key button to activate the mouse events. So for example if you open runSofa and go directly to the example: sofa-srcexamplesComponentstopologyTetra2TriangleTopologicalMapping.scn

and press Shift + left mouse button…[Read more]

Hi,

ok, your project seems very interesting. With a lot of different aspects to work on.
I didn’t get all the points but we could discuss each step in more detail when you get deeper into those simulation procedure.

Right now to answer your question you can use the mouse directly from the default runSofa gui.
See doc here:…[Read more]