[SOLVED] Compound collision model for rigid bodies

[bobiko]

Hi everyone!

In my simulation I have two components: a rigid tool and a soft body. In order to decrease collision detection computation time I would like to decompose my instrument (the rigid object) into a set of primitives (capsules, cylinders, spheres). Now, the problem is that collision between primitives and triangle meshes is not implemented in common SOFA intersectors. Wandering around the framework I found an intersector, which has such capabilities: MeshDiscreteIntersection. However, I was not able to load it in my scene. Hence, I have two questions:

1) Generally speaking, is it a good idea to use compound decomposition for rigid objects?
2) Could you provide an example of how to use MeshDiscreteIntersection?

Thanks in advance,
Vlad

[Hugo]

Hi Vlad @bobiko

I am sorry for this late reply. I prepared few weeks ago a reply, but got not published.
Did you solve your issue ?

Best,

Hugo

[bobiko]

Hi @hugo,

Yes, I found out that MeshDiscreteIntersection, just like MeshMinProximityIntersection, are essentially parts of DiscreteIntersection and MinProximityIntersection, respectively. So I went with MinProximityIntersection. Nonetheless, capsule collision model didn’t work quiet well for me, so instead I am using line and point collision models with proximity offsets, which makes it work as a cylinder.

Regards,
Vlad

[Hugo]

Great @bobiko

Nice job! Let us know and do not hesitate to open a new topic if you have other question or if you struggle in your implementation.

Best

Hugo

[Author]

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