Crash in Carving Manager when using a triangular surface mesh.

Hi all,

I have been trying to carve a triangular surface mesh, by using carving manager.
Following is the scene file that I have been using.

<?xml version="1.0" ?>
<Node name="root" dt="0.005" gravity="0 0 0" >
    <RequiredPlugin name="SofaOpenglVisual"/>
    <RequiredPlugin pluginName='SofaHaptics'/>
    <VisualStyle displayFlags="hideBehaviorModels hideCollisionModels hideMappings hideForceFields" />
    <RequiredPlugin name="Geomagic plugin" pluginName="Geomagic" />
    <RequiredPlugin name="Carving" pluginName="SofaCarving" />
    
    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
    <BruteForceDetection name="detection" />
    <DefaultContactManager name="response" response="FrictionContact" />
    <LocalMinDistance name="proximity" alarmDistance="1.5" contactDistance="0.05" angleCone="0.0" />
    <FreeMotionAnimationLoop/>
    <GenericConstraintSolver maxIt="1000" tolerance="1e-6" computeConstraintForces="1" />
    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="0" positionBase="0 0 0" drawDevice="0" orientationBase="0 0.707 0 -0.707"/>
    <CarvingManager active="@GeomagicDevice.button1" carvingDistance="0.0" key="k" />
    <MeshObjLoader name="meshLoader_colission" filename="c:/open_prj/sofa/src/examples/MembraneCutting/Data/in/10x10x0_5_membrane_top.obj"/>
    <Node name="Sheet" gravity="0 0 0">
        <EulerImplicitSolver name="cg_odesolver"  />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-09" threshold="1e-09" />
        <MeshObjLoader name="meshLoader" filename="c:/open_prj/sofa/src/examples/MembraneCutting/Data/in/10x10x0_5_membrane_top.obj" scale="1" createSubelements="true" translation = "0 0 -5"/>
        <include href="Objects/TriangleSetTopology.xml" src="@meshLoader" />
        <MechanicalObject name="dofs" src="@meshLoader" />
        <TriangleSetTopologyContainer name="topo" src="@meshLoader" />
        <TriangleSetTopologyModifier   name="Modifier" />
        <TriangleSetTopologyAlgorithms name="TopoAlgo"   template="Vec3d" />
        <TriangleSetGeometryAlgorithms template="Vec3d" name="GeomAlgo" />
        <DiagonalMass  name="computed using mass density" massDensity="1" />
        <TriangularFEMForceField template="Vec3d" name="FEM" youngModulus="6000" poissonRatio="0.35" method="large" showStressValue="false" fracturable ="true" showStressVector="false" showFracturableTriangles="true" hosfordExponant="10.0" criteriaValue="1000" computePrincipalStress="true"/>
        <PrecomputedConstraintCorrection recompute="true"/>

        <!-- <FixedConstraint  name="FixedConstraint" indices="2" /> -->
         <FixedConstraint  name="FixedConstraint" indices="130 104 87 119" />
        <Node name="Visu" tags="Visual" gravity="0 0 0">
            <MeshObjLoader name="meshLoader_2" filename="c:/open_prj/sofa/src/examples/MembraneCutting/Data/in/10x10x0_5_membrane_top.obj" handleSeams="1" />
            <OglModel  name="VisualModel" texturename="c:/open_prj/sofa/src/examples/MembraneCutting/Data/in/texture_inside_brain.bmp" putOnlyTexCoords="true" src="@../meshLoader" />
            <BarycentricMapping name="visual mapping" input="@../dofs" output="@VisualModel" />
        </Node>

         <Node name="Collision" gravity="0 0 0">
            <MeshTopology src="@../meshLoader"/>
            <MechanicalObject name="CollisionMO" scale="1.0"/>
            <TriangleCollisionModel name="CollisionModel2" simulated="1" contactStiffness="3"  bothSide="1" tags="CarvingSurface"/>
            <LineCollisionModel />
            <PointCollisionModel/>
            <BarycentricMapping name="CollisionMapping" input="@../dofs" output="@CollisionMO" />
        </Node>

       <!-- <CarvingManager active="@GeomagicDevice.button1" carvingDistance="-0.01" key="k" triangleInfo="@FEM.triangleInfo"/> -->

    </Node>
    
    <!-- ADDED: the Mechanical state Controller gathers events from the Omni driver and populates the Mechanical state -->
    <Node name="Omni">
        <MechanicalObject template="Rigid3d" name="DOFs" position="@GeomagicDevice.positionDevice"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
        <Node name="VisuAvatar" activated="false" >
            <MeshObjLoader name="meshLoader_0" filename="mesh/sphere.obj" scale="0.1" handleSeams="1" />
            <OglModel name="Visual" src="@meshLoader_0" color="gray"/>
            <RigidMapping input="@.." output="@Visual" index="0"/>
        </Node>
        <Node name="RefModel">
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader"  />
            <MechanicalObject src="@loader" name="instrumentRefState1" ry="-180" rz="-90" dz="3.5" dx="-0.3" />
            <RigidMapping />
        </Node>
        <Node name="RefModelRight" >
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader" />
            <MechanicalObject src="@loader" name="instrumentRefState2" ry="-180" rz="-90" dz="3.5" dx="-0.3" dy="0.5" />
            <RigidMapping />
        </Node>
        <Node name="RefModelLeft" >
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader"  />
            <MechanicalObject src="@loader" name="instrumentRefState3" ry="-180" rz="-90" dz="3.5" dx="-0.3" dy="-0.5" />
            <RigidMapping />
        </Node>
    </Node>

    <Node name="Instrument" >
        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
        <CGLinearSolver name="linear solver" iterations="25" tolerance="1e-10" threshold="10e-10" /> 
        <MechanicalObject name="instrumentState" template="Rigid3d" />
        <UniformMass name="mass" totalMass="0.5" />
        <LCPForceFeedback activate="true" forceCoef="0.01"/> <!-- ADDED : Compute a force-feedback for the device -->
        <UncoupledConstraintCorrection/>
        <Node name="VisualModel" >
            <MeshObjLoader name="meshLoader_1" filename="Demos/Dentistry/data/mesh/dental_instrument.obj" handleSeams="1" />
            <OglModel name="InstrumentVisualModel" src="@meshLoader_1" color="gray" ry="-180" rz="-90" dz="3.5" dx="-0.3"/>
            <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
        </Node>
        <Node name="CollisionModel" >
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader"  />
            <MechanicalObject src="@loader" name="instrumentCollisionState1"  ry="-180" rz="-90" dz="3.5" dx="-0.3" />
            <LineCollisionModel contactStiffness="10" />
            <PointCollisionModel contactStiffness="10"/> 
            <SphereCollisionModel radius="0.02" contactStiffness="10" tags="CarvingTool" listRadius="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.1"/>
            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState1" />
        </Node>
        <Node name="RefModelRight" >
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader"  />
            <MechanicalObject src="@loader" name="instrumentCollisionState2"  ry="-180" rz="-90" dz="3.5" dx="-0.3" dy="0.5" />
            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState2" />
        </Node>
        <Node name="RefModelLeft" >
            <MeshObjLoader filename="Demos/Dentistry/data/mesh/dental_instrument_centerline.obj"  name="loader"/>
            <MeshTopology src="@loader"  />
            <MechanicalObject src="@loader" name="instrumentCollisionState3"  ry="-180" rz="-90" dz="3.5" dx="-0.3" dy="-0.5" />
            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState3" />
        </Node>
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModel/instrumentRefState1" object2="@Instrument/CollisionModel/instrumentCollisionState1" stiffness="10" viscosity="0" />
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModelRight/instrumentRefState2" object2="@Instrument/RefModelRight/instrumentCollisionState2" stiffness="10" viscosity="0" />
        <VectorSpringForceField  template="Vec3d" object1="@Omni/RefModelLeft/instrumentRefState3" object2="@Instrument/RefModelLeft/instrumentCollisionState3" stiffness="10" viscosity="0" />
    </Node>  

</Node>

Attaching the triangular mesh as well.
triangular surface mesh

The only change that I did inside CarvingManager.cpp is:

@@ -96,12 +97,14 @@ void CarvingManager::init()
         for (size_t i=0;i<models.size();++i)
         {
             core::CollisionModel* m = models[i];
-            m->getContext()->get(topoMapping);
-            if (topoMapping == NULL) continue;
+            /*m->getContext()->get(topoMapping);
+            if (topoMapping == NULL) continue;*/

             m_surfaceCollisionModels.push_back(m);
         }
     }
+

When I run the above scene, and try the carve the triangular mesh, the application crashes, and I see the following logs at the console

[ERROR]   [TriangularFEMForceField(FEM)] Indices given in parameters are wrong>> a=128 b=129 and c=130 whereas the size of the vector p is 130
[ERROR]   [TriangularFEMForceField(FEM)] Indices given in parameters are wrong>> a=129 b=98 and c=130 whereas the size of the vector p is 130

Would be great if you could help me find what am I doing wrong here.

Thanks!