Cannot animate Geomagic

Hello everyone.

I’m writing code in C++ to move objects using Geomagic.
I was able to synchronize the object and Geomagic, but the object doesn’t move when I press animate.

This is my source code. What is missing…?

Thank you very much.

pontas

Node *LeftSide(Node *root)
{
const Deriv3 translation1(0, 1, 0);
const Deriv3 rotation1(90, -90, 0);

sofa::helper::system::PluginManager::getInstance().loadPlugin(“SofaOpenglVisual”);
sofa::helper::system::PluginManager::getInstance().init();

sofa::component::collision::DefaultPipeline::SPtr pipeline = sofa::core::objectmodel::New<sofa::component::collision::defaultpipeline>();
pipeline->setName(“DefaultCollisionPipeline”);
pipeline->d_depth.setValue(1);
root->addObject(pipeline);

sofa::component::odesolver::EulerImplicitSolver::SPtr solver = sofa::core::objectmodel::New<sofa::component::odesolver::eulerimplicitsolver>();
solver->setName(“Implicit Euler SolverN”);
solver->f_rayleighStiffness.setValue(0.1);
solver->f_rayleighMass.setValue(0.1);
root->addObject(solver);

CGLinearSolver::SPtr linear = sofa::core::objectmodel::New<cglinearsolver>();
linear->setName(“Conjugate gradientN”);
linear->templateName(“GraphScattered”);
linear->f_maxIter.setValue(25); //iterations
linear->f_smallDenominatorThreshold.setValue(1e-05);
linear->f_tolerance.setValue(1e-05);
root->addObject(linear);

GeomagicDriver::SPtr driver1 = sofa::core::objectmodel::New<geomagicdriver>();
driver1->setName(“GeomagicDevice1”);
driver1->d_deviceName.setValue(“LeftSidePhantom”);
driver1->d_scale.setValue(1);
root->addObject(driver1);

Node::SPtr blade1 = root->createChild(“Blade1”);
{
MechanicalObjectRigid3::SPtr Particles1 = sofa::core::objectmodel::New<mechanicalobjectrigid3>();
Particles1->setName(“Left1”);
Particles1->x.setParent(driver1->d_posDevice.getData()); //position coordinates of the degrees of freedom
blade1->addObject(Particles1);

MechanicalStateControllerRigid3::SPtr controller = sofa::core::objectmodel::New<mechanicalstatecontrollerrigid3>();
controller->f_listening.setValue(true);
controller->setMainDirection(sofa::defaulttype::Vector3(-1, 0, 0));
blade1->addObject(controller);

MeshObjLoader::SPtr meshLoader1 = sofa::core::objectmodel::New<meshobjloader>();
meshLoader1->setFilename(sofa::helper::system::DataRepository.getFile(“obj/blade_D8L15.obj”));
meshLoader1->load();
meshLoader1->setName(“meshLoader1”);
blade1->addObject(meshLoader1);

{
Node::SPtr CollisionNode1 = sofa::modeling::createEulerSolverNode(blade1, “CollisionNode1”);

MeshObjLoader::SPtr meshLoader1 = sofa::core::objectmodel::New</meshobjloader><meshobjloader>();
meshLoader1->setFilename(sofa::helper::system::DataRepository.getFile(“obj/blade_D8L15.obj”));
meshLoader1->load();
meshLoader1->setName(“meshLoader1”);
CollisionNode1->addObject(meshLoader1);
blade1->addObject(meshLoader1);

MeshTopology::SPtr Mesh1 = sofa::core::objectmodel::New<meshtopology>();
Mesh1->setName(“Mesh1”);
Mesh1->setSrc(“@” + meshLoader1->getName(), meshLoader1.get());
CollisionNode1->addObject(Mesh1);
blade1->addObject(Mesh1);

}

{
Node::SPtr VisualNode1 = sofa::modeling::createEulerSolverNode(blade1, “VisualNode1”);

MeshObjLoader::SPtr meshLoader1 = sofa::core::objectmodel::New<meshobjloader>();
meshLoader1->setName(“meshLoader1”);
meshLoader1->setFilename(sofa::helper::system::DataRepository.getFile(“obj/blade_D8L15.obj”));
meshLoader1->d_translation.setValue({-5, 0, 0});
meshLoader1->d_rotation.setValue({0, -90, 0});
blade1->addObject(meshLoader1);

OglModel::SPtr Objective1 = sofa::core::objectmodel::New<oglmodel>();
Objective1->setName(“Objective1”);
Objective1->templateName(“Vec3dTypes”);
Objective1->setSrc(“@” + meshLoader1->getName(), meshLoader1.get());
Objective1->setColor(“red”);
blade1->addObject(Objective1);

RigidMapping3::SPtr visualmapping1 = sofa::core::objectmodel::New<rigidmapping3>();
visualmapping1->setName(“Visual Mapping1”);
visualmapping1->setModels(Particles1.get(), Objective1.get());
blade1->addObject(visualmapping1);

}

}

return root;

}

int main(int argc, char** argv)
{
sofa::simulation::tree::init();
ArgumentParser argParser(argc, argv);
sofa::gui::GUIManager::RegisterParameters(&argParser);
argParser.parse();
sofa::gui::initMain();
sofa::gui::GUIManager::Init(argv[0]);

sofa::simulation::setSimulation(new sofa::simulation::tree::TreeSimulation());
sofa::simulation::Node::SPtr root = sofa::simulation::tree::getSimulation()->createNewGraph(“root”);
root->setGravity(sofa::defaulttype::Vector3(0, 0, 0));

FreeMotionAnimationLoop::SPtr animationloop = sofa::core::objectmodel::New<freemotionanimationloop>(root.get());
root->addObject(animationloop);

//Add the objects
LeftSide(root.get());
root->setAnimate(false);

//init the simulate
sofa::simulation::tree::getSimulation()->init(root.get());

//run the main roop
sofa::gui::GUIManager::MainLoop(root);
sofa::simulation::tree::cleanup();
return 0;

}