SOFA yupeng

yupeng replied to the topic How to create my own contact class? in the forum Programming with SOFA 8 months ago

The error didn’t reappear anymore when I using SphereCollsionModelas the first template parameter in NeedleContact.cpp.
Creator<sofa::core::collision::Contact::Factory, NeedleContact< SphereCollisionModel<sofa::defaulttype::Vec3Types>, PointCollisionModel<sofa::defaulttype::Vec3Types>> > PointSphereNeedleContactClass("NeedleContact",…[Read more]
yupeng started the topic How to create my own contact class? in the forum Programming with SOFA 8 months ago

As I mentioned in this topic

I want to create a needle insertion application. I’ve talked with @hugo about this. We reach a consensus about the implementation.

Needle insertion step:

1. Before insertion, the soft tissue resists the insertion of the needle by creating unilateralInteractionConstraint
2. When the contact force computed from…[Read more]
yupeng replied to the topic How can I use Tet mesh as collision model? in the forum Programming with SOFA 10 months, 2 weeks ago

Dear @Hugo,
Thanks for your kind advice.

You said people didn’t use Tetra as a collision model, then how did they know which Tetra contains needle points? Is there a more convenient approach to do that?

@agnesenardi, I am also working on this simulation, maybe we could collaborate and see what we could do.
yupeng replied to the topic How can I use Tet mesh as collision model? in the forum Programming with SOFA 1 year ago

Hi @Hugo,

Using the scene file you proposed, I could use the TetrahedronCollisionmodel now. But, when the haptic device (pointCollisionModel) contacts with liver, the program corrupt. I found it has a relation with the mapping method. Even though I set IdentityMapping method, it still calls BarycentricContactMapper.

The debugging call stack is…[Read more]
yupeng replied to the topic Geomagic Plugin: Printing haptic force in Console in the forum Programming with SOFA 1 year ago

Hey @Hugo,
Thanks for your kind instructions. I could export the haptic force right now.
yupeng replied to the topic Geomagic Plugin: Printing haptic force in Console in the forum Programming with SOFA 1 year, 1 month ago

Oh, I make a stupid mistake: choosing the wrong component when clicking printlog. The precedure above is right. I could print out the haptic force.

What’s more, how can I store the haptic force into a file?
yupeng started the topic Geomagic Plugin: Printing haptic force in Console in the forum Programming with SOFA 1 year, 1 month ago

I didn’t feel any haptic force using scenes in Geomagic plugin. Thus, I tried to print the haptic force, but it didn’t work.

1. I add a Data<Vec3d> d_foce in GeomagicDriver.h. d_force is used to store haptic force.
2. In GeomagicDriver.cpp:HDCallbackCode HDCALLBACK stateCallback(void * userData), the haptic force d_force is assigned as: driver->…[Read more]
yupeng replied to the topic How can I use Tet mesh as collision model? in the forum Programming with SOFA 1 year, 3 months ago

@Hugo, Thanks for your reply. It helps a lot.
I’ve read the paper you suggested. And I’m trying to implement the method in it.

About the code, I wonder how can I register TetrahedronDiscreteIntersection into the factory. The error log is shown as the first post.
yupeng replied to the topic How can I use Tet mesh as collision model? in the forum Programming with SOFA 1 year, 4 months ago

Hi @Hugo, thanks for your reply.

The function of TetrahedronDiscreteIntersection is just what I want to use.

Firstly, when my needle inserts into the tet mesh. Then I have to determine which tetrahedron collides with needle (represented as a point collision model currently).
However, there are no intersection methods that can handle this.
yupeng posted an update 1 year, 4 months ago

Hi @fedev,
I’m also working on a project about suturing. It’s really a complex procedure. I recognized that your scene just simulates the collision between the needle and soft body (I think there are some similar examples scenes under folder applicationspluginsGeomagicscenes).
However, when a needle penetrated the soft body there are some…[Read more]
yupeng's profile was updated 1 year, 5 months ago

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yupeng started the topic How can I use Tet mesh as collision model? in the forum Programming with SOFA 1 year, 5 months ago

Hey, guys.

I’m trying to use plugin SofaMiscCollision when handling the collision between a point model and tetrahedron mesh.

The scene file is as here:

bash [ERROR] [InfoComponent(Not created (TetrahedronDiscreteIntersection))] Object type TetrahedronDiscreteIntersection<> was not created The object is not in the factory. [WARNING]…[Read more]
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