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Home › Forum › SOFA › Using SOFA › [SOLVED] Collision detection algorithm and the algorithm to calculate the feedback force.
Tagged: 32_bits, SOFA_other, Windows_7
Hi,everyone
I have q question ,I would like to know the collision detection algorithm and the calculation of the feedback algorithm, and how to achieve in SOFA .
Thank you
Hi Sen,
You have an example in the scene applications/plugins/Geomagic/scenes/Geomagic-FEMLiver.scn using a Geomagic haptic device. You will find the following collision pipieline:
<CollisionPipeline name="pipeline" depth="6" verbose="0"/>
<BruteForceDetection name="detection" />
<CollisionResponse name="response" response="FrictionContact" />
<LocalMinDistance name="proximity" alarmDistance="0.15" contactDistance="0.05" angleCone="0.0" />
<FreeMotionAnimationLoop/>
<LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
and the object on which you wan to have force feedback will be like
<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" position="@GeomagicDevice.positionDevice" template="Rigid" />
<UniformMass name="mass" totalmass="0.005" />
<LCPForceFeedback activate="true" forceCoef="0.005"/> <!-- ADDED : Compute a force-feedback for the device -->
<UncoupledConstraintCorrection/>
</Node>
Hope this helps.
Hugo
Hi,
There are formulas or documents to how to explain or calculate it ?
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