epernod

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]

Hi @pasquale94

could you be more specific after which kind of event you want to remove a tetrahedron ?

Is it rather a mouse event or a collision event or something else? Also how do you want to create this action? Is it from an internal c++ code or directly through the scene?

Best regards,

Erik

ps: something like this ?

Hi @luibass92

to complete Hugo answer, yes the behavior was broken in last releases due to change in the code not propagated into the example scene.
this has been fixed and will be part of the incoming release. Meanwhile you can download the up to date .scn file here: ArticulatedSystemMapping.scn

Let us know if it works as expected.

regads,

Erik

Hi,

sorry I wanted to reply and the SOFA week happened.

As Hugo told, the main principals are in SOFA but some parts are missing like the tetra refinement and “split on path”.
The main issue I see with your question is how will you control the depth of cut using a mouse?

best regards,

Hi,

sorry not time yet to work on it and Santa Claus didn’t deliver yet the 2nd device at my office…

Let you know as soon as possible.

Hi,

sorry I didn’t read the whole conversation but did you give a try with SubsetTopologyEngine ?
You can split the mesh using a boxROI and then use tetra FEM on the ROI you want to simulate with accuracy and use a Grid + HexaFEM for the rest of the mesh.
It is more a trick than an accurate solution. Otherwise I would recommand to generate a…[Read more]

Hi,

stl in ascii and binary is supported using the MeshSTLLoader but I don’t know URDF/stl, could you share a small mesh to see the format?
From which software do you export this format?

regards,

Hi,
could you do a simple test and try to launch runSofa with another scene. To check if it is the scene or the app.
You Can do this by launching from shell:
./runSofa.exe /path/examples/Demos/liver.scn

Regards

Hi,

could you just specify which version of SOFA you are using.

thanks,

Erik

Hi,

Looking only at the numbers. I think you are trying to incisé outside of the mesh.

Do you confirm that you Can see the mesh when you start thé simulation before cutting?

The numbers in the .txt are 3d coords. So your first incision point is on (5,6,0) while your points are between (0,0,0) and (2,2,0).

Let me know if changing thé coords in…[Read more]

hi,
ok, but were you able to run the OpenHaptics example? Sofa is using this lib to control the geomagic. So if there example do not work, maybe you need to update your version of OH.

best,

Hi,
any update on your problem?

regards,

ok I don’t think it is a problem from SOFA.
As it is using OpenHaptics to communicate with the touch, be sure to have an up to date version and if you can try to run the example from the lib as well.

Hi,

sorry my hexadecimal is a bit rusty.
771 correspond to:
#define HD_COMM_CONFIG_ERROR 0x0303

in openHaptics: hdDefines.h

Just to be sure, when you are using the touch setup, is the device well detected?
Are you able to run touch demo ? (I’m on windows, so not sure it exists on linux)

best,

Hi,

the driver error 771 if I well remember means that your device is busy.
Be sure before starting the scene that you have closed all touch app. like the demo or Touch Setup.

If none, also check in your task manager that there is no zombie task like an old exec of runSofa or touch app.

best regards,

Hi,

the normal you see in the window are coming from the OglModel of your scene.
Each OglModel has a Data normal. I’m not used to create scene in python but I’m quite sure you can access directly Data values of component.

Be sure to have updateNormals set to true in the OglModel

Erik