@yupengActive 5 days, 14 hours ago
After asking again to some researchers involved in needle insertion, they are indeed using a TetrahedronCollisionModel but they implemented their own collision detection and tetrahedron-based models. It is therefore not in SOFA.
But, at a glance, the principle is the following:
– on the first contact detected, you can set up a…[Read more]
After investigation, my advice was wrong. In SOFA, only the TetrahedronDiscreteIntersection implements the discrete collision between a TetrahedonCollisionModel and any other model. I did not know this. Your there need to use TetrahedronDiscreteIntersection.
As you noticed, when using it in a scene, you receive:
As I said earlier, setting a DiscreteIntersection in your scene will allow you to use collision on Tets. But you need to add in your collision node, a TetrahedronCollisionModel.
Example of a TetrahedronCollisionModel:
<?xml version="1.0" ?>
<Node name="lroot" gravity="0 -9.81 0" dt="0.02">
Since your point is quite precise for collision detection I needed to get back to other devs for info.
A team that I know working on needle insertion developed some homemade code. But the principle should be close to what is in the open version of SOFA:
– they use a regular DiscreteIntersection
– they use TetrahedronCollisionModel to…[Read more]