[SOLVED] CUDA Collisions

Hi Everyone,

I’m encountering an error when I try to implement collisions using CUDA. I have successfully compiled SOFA and the SofaCUDA plugin from source using the latest commit from the git repository.

In my scene, I drop a humanoid mesh on a floor, and when they contact, I obtain the following error:

ERROR: Element Intersector TTriangleModel<CudaVectorTypes<Vec<3, float>, Vec<3, float>, float> >-TTriangleModel<CudaVectorTypes<Vec<3, float>, Vec<3, float>, float> > NOT FOUND within :

And it then lists several model interaction pairs. I’ve included the scene xml below:

<?xml version=”1.0″?>
<Node name=”root” gravity=”0 -9.81 0″ dt=”0.01″ >
<RequiredPlugin name=”CUDA computing” pluginName=”SofaCUDA” />
<VisualStyle name=”VisualStyle” displayFlags=”showAll” />
<CollisionPipeline name=”Pipeline” />
<BruteForceDetection name=”BruteForceDetection” />
<DefaultContactManager name=”ContactManager” response=”default” />
<CudaProximityIntersection name=”ProximityIntersection” alarmDistance=”0.05″ contactDistance=”0.01″ />

<EulerImplicitSolver name=”cg_odesolver” />
<CGLinearSolver name=”linear solver” iterations=”10″ tolerance=”1e-09″ threshold=”1e-09″/>
<Node name=”Floor”>
<RegularGrid
nx=”20″ ny=”2″ nz=”20″
xmin=”-100″ xmax=”100″
ymin=”-1″ ymax=”0″
zmin=”-100″ zmax=”100″ />
<MechanicalObject template=”CudaVec3f” />
<TTriangleModel template=”CudaVec3f”/>
<Node name=”Visu”>
<OglModel name=”Visual” color=”blue”/>
<IdentityMapping input=”@..” output=”@Visual”/>
</Node>
</Node>
<Node name=”Model” >
<MeshObjLoader name=”modelMesh” filename=”obj/model.obj” />
<MeshTopology src=”@modelMesh” />
<MechanicalObject src=”@modelMesh” name=”Model” template=”CudaVec3f” translation=”0 10 0″ />
<UniformMass totalmass=”50″ />
<TTriangleModel template=”CudaVec3f”/>
<OglModel name=”VisualModel” template=”ExtVec3f” color=”grey” />
<IdentityMapping name=”Mapping” template=”CudaVec3f,ExtVec3f” input=”@.” output=”@VisualModel” />
</Node>

Is there something simple I’m doing wrong?

Thanks so much for your help,

Jason