How to create my own contact class?

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  • Author
    Posts
  • 31 May 2021 at 14:35 #19577
    yupeng
    Blocked

    As I mentioned in this topic

    I want to create a needle insertion application. I’ve talked with @hugo about this. We reach a consensus about the implementation.

    Needle insertion step:

    1. Before insertion, the soft tissue resists the insertion of the needle by creating unilateralInteractionConstraint
    2. When the contact force computed from unilateralInteractionConstraint beyond some threshold, we should create a sliding constraint other than unilateralInteractionConstraint.

    The creation of this kind of constraint is implemented in a contact class (for example friction contact). Thus, I create my own plugin which could create my own contact class: NeedleContact and sliding constraint: NSlidingConstraint.

    Then I start to use this scene to test my needle insertion plugin. When the tool has contacts with the soft tissue, I get the errors as below:

    
[INFO]    [runSofa] PluginRepository paths = C:/Users/Administrator/Desktop/sofaVS2019/build/plugins;C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo
[INFO]    [runSofa] DataRepository paths = C:/Users/Administrator/Desktop/sofaVS2019/sofa/share;C:/Users/Administrator/Desktop/sofaVS2019/sofa/examples
[INFO]    [runSofa] GuiDataRepository paths = C:/Users/Administrator/Desktop/sofaVS2019/sofa/applications/projects/runSofa/resources;C:/Users/Administrator/Desktop/sofaVS2019/sofa/modules/SofaGuiQt/src/sofa/gui/qt/resources
[INFO]    [runSofa] Loading automatically plugin list in C:\Users\Administrator\Desktop\sofaVS2019\build\applications\projects\runSofa/plugin_list.conf.default
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaSparseSolver.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaPreconditioner.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaHaptics.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaValidation.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaDenseSolver.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaNonUniformFem.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaOpenglVisual.dll
[INFO]    [SofaPython] Added 'C:/Users/Administrator/Desktop/sofaVS2019/sofa/applications/plugins/SofaPython/python' to sys.path
[INFO]    [SofaPython] Added 'C:/Users/Administrator/Desktop/sofaVS2019/sofa/applications/plugins/SofaTest/python' to sys.path
[WARNING] [PythonEnvironment] No python dir found in C:/Users/Administrator/Desktop/sofaVS2019/build/bin
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaPython.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaExporter.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/CImgPlugin.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/SofaMiscCollision.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/ManualMapping.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/Geomagic.dll
[INFO]    [PluginManager] Loaded plugin: C:/Users/Administrator/Desktop/sofaVS2019/build/bin/RelWithDebInfo/MyPlugin.dll
Warning: Setting a new default format with a different version or profile after the global shared context is created may cause issues with context sharing.
The constructor with a QGLFormat is deprecated, use the regular contructor instead.

[WARNING] [LCPForceFeedback(lCPForceFeedback1)] Unused Attribute: "draw" with value: "true"
[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[INFO]    [SceneCheckerVisitor] Finished validating node "root".
****************************************
This is the DEVELOPER EDITION of OPENHAPTICS, commercial distribution is prohibited
Please contact 3D Systems to obtain a commercial license
****************************************
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed
Supported models for contact NeedleContact:
   NeedleContact<PointCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,PointCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >
   NeedleContact<PointCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,SphereCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >
   NeedleContact<LineCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,SphereCollisionModel<StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >,StdVectorTypes<Vec<3,double>,Vec<3,double>,double> >

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[ERROR]   [DefaultContactManager(response)] Contact NeedleContact between SphereCollisionModel and PointCollisionModel creation failed
further messages suppressed.

[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel
Scene radius must be positive - Ignoring value
[INFO]    [LCPcalc] dim should be dividable by 3 in nlcp_gaussseidel

########## SIG 22 - SIGABRT: usually caused by an abort() or assert() ##########
17: sofa::helper::BackTrace::dump - 0x7ff8dc40b69016: sofa::helper::BackTrace::sig - 0x7ff8dc40b84015: raise - 0x7ff95b3716a014: abort - 0x7ff95b37282013: purecall - 0x7ff94250698012: sofa::component::controller::LCPForceFeedback<sofa::defaulttype::StdRigidTypes<3,double> >::doComputeForce - 0x7ff8c7c06e7011: sofa::component::controller::LCPForceFeedback<sofa::defaulttype::StdRigidTypes<3,double> >::computeForce - 0x7ff8c7c0679010: sofa::component::controller::LCPForceFeedback<sofa::defaulttype::StdRigidTypes<3,double> >::computeForce - 0x7ff8c7c068509: sofa::component::controller::stateCallback - 0x7ff8c71f23b08: hdDisableDevice - 0x7ff8c71730907: hdStopScheduler - 0x7ff8c717e1c06: hdStopScheduler - 0x7ff8c717e1c05: hdStopScheduler - 0x7ff8c717e1c04: hdStopScheduler - 0x7ff8c717e1c03: hdStopScheduler - 0x7ff8c717e1c02: initOSExtender - 0x7ff8c714a2901: BaseThreadInitThunk - 0x7ff95bba70200: RtlUserThreadStart - 0x7ff95d702630[WARNING] [SofaSimulationTree] the library has not been cleaned up (sofa::simulation::tree::cleanup() has never been called, see sofa/helper/init.h)
QObject::~QObject: Timers cannot be stopped from another thread
[WARNING] [SofaSimulationGraph] the library has not been cleaned up (sofa::simulation::graph::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaSimulationCommon] the library has not been cleaned up (sofa::simulation::common::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaSimulationCore] the library has not been cleaned up (sofa::simulation::core::cleanup() has never been called, see sofa/helper/init.h)
[WARNING] [SofaCore] the library has not been cleaned up (sofa::core::cleanup() has never been called, see sofa/helper/init.h)

    The error messages show that I failed to create the contacts. How should I correct this?

    7 October 2021 at 09:16 #20533
    Hugo
    Keymaster

    Hey @yupeng,

    Any update on your research topic? Have the scene from Cosserat plugin proved useful?

    Anyway, do not hesitate to join the SOFA Week 2021 and event present your ongoing work with the entire community!

    Best wishes

    Hugo

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