Home › Forum › SOFA › Using SOFA › How to genuinely increase the friction in a frictionContact scene?
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Hugo.
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3 November 2018 at 05:22 #12330
Wong
BlockedHello everyone,
This problem has perplexed me for a long time. I notice that the frictionContact option in CollisionResponse is usually used in quite a number of default scenes in Sofa.
I try to increase the mu at many components, such as CollisionResponse, LCPConstraintSolver, and the collision model and use a grasper to grasp a deformable body. But no remarkable result can be seen after that.
And I notice this link provided a example scene to address the problem:
<Node name="root" dt="0.01" gravity="0 -9.81 0"> <!– Basic Components to perform the collision detection –> <VisualStyle displayFlags="showBehavior showCollisionModels" /> <CollisionPipeline /> <BruteForceDetection /> <FreeMotionAnimationLoop/> <GenericConstraintSolver maxIterations="1000" tolerance="0.001"/> <DefaultContactManager response="FrictionContact" responseParams="mu=0.6"/> <MinProximityIntersection alarmDistance="1" contactDistance="0.5"/> <!– Using a deformable cube using collision spheres –> <Node name="Cube1"> <EulerImplicitSolver name="EulerImplicit Cube1" /> <SparseLDLSolver name="Solver Cube1" /> <MechanicalObject name="Particles Cube1" template="Vec3d" position="0 0 1 1 0 1 0 1 1 1 1 1 0 0 2 1 0 2 0 1 2 1 1 2" translation="0.5 2 0" /> <MeshTopology name="Topology Cube1" hexas="0 4 6 2 1 5 7 3" /> <UniformMass name="Mass Cube1" totalmass="1" /> <MeshSpringForceField name="Springs Cube1" stiffness="100" damping="1" /> <!– Collision Models –> <SphereModel name="Spheres For Collision Cube1" radius="0.2" /> <LinearSolverConstraintCorrection/> </Node> <!– Using a deformable cube using collision triangles, lines and points –> <Node name="Cube2"> <EulerImplicitSolver name="EulerImplicit Cube2" /> <SparseLDLSolver name="Solver Cube2" /> <MechanicalObject name="Particles Cube2" template="Vec3d" position="0 0 1 1 0 1 0 1 1 1 1 1 0 0 2 1 0 2 0 1 2 1 1 2" /> <MeshTopology name="Topology Cube2" hexas="0 4 6 2 1 5 7 3" /> <UniformMass name="Mass Cube2" totalmass="1" /> <MeshSpringForceField name="Springs Cube2" stiffness="15" damping="1" /> <!– Collision Models –> <TriangleModel name="Triangles For Collision" /> <LineModel name="Lines For Collision" /> <PointModel name="Points For Collision" /> <LinearSolverConstraintCorrection/> </Node> <Node name="Floor"> <MeshTopology name="Topology Floor" filename="mesh/floor.obj" /> <MechanicalObject name="Particles Floor" /> <TriangleModel name="Triangle For Collision Floor" moving="0" simulated="0" /> </Node> </Node>
But an error occurs:
[ERROR] [SparseLDLSolver] Failed to factorize, D(k,k) is zeroSo what is the problem?
27 November 2018 at 03:07 #1253712 December 2018 at 20:15 #12573 -
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