[SOLVED] making models move with each other and not separate

[Anonymous]

I have a scissor model that is mapped to a collision model. I want the scissors to stay intact, but the they collide with each other and fly away, I still want them to collide with other objects but not with each other.

  <Node name="Left_Tip" >
    <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="Rigid" />
    <UniformMass name="mass" totalmass="0.05" />
    <LCPForceFeedback activate="true" forceCoef="0.001"/>
    <UncoupledConstraintCorrection/>
    <Node name="VisualModel" >
      <OglModel name="InstrumentVisualModel" fileMesh="C:\Users\Fayad\Documents\sofa\scissor_very_low_left_tip.obj" color="blue" scale="0.05" />
      <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
    </Node>
    <Node name="CollisionModel" >
      <MeshObjLoader filename="C:\Users\Fayad\Documents\sofa\scissor_very_low_left_tip.obj"  name="loader"/>
      <Mesh src="@loader" name="InstrumentCollisionModel" />
      <MechanicalObject src="@loader" name="instrumentCollisionState"  scale="0.05" />
      <Line name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Point name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Triangle name="instrument" tags="CarvingTool" contactStiffness="2" />
      <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
    </Node>
  </Node>

  <Node name="Right_Tip" >
    <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="Rigid" />
    <UniformMass name="mass" totalmass="0.05" />
    <LCPForceFeedback activate="true" forceCoef="0.001"/>
    <UncoupledConstraintCorrection/>
    <Node name="VisualModel" >
      <OglModel name="InstrumentVisualModel" fileMesh="C:\Users\Fayad\Documents\sofa\scissor_very_low_right_tip.obj" color="blue" scale="0.05" />
      <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
    </Node>
    <Node name="CollisionModel" >
      <MeshObjLoader filename="C:\Users\Fayad\Documents\sofa\scissor_very_low_right_tip.obj"  name="loader"/>
      <Mesh src="@loader" name="InstrumentCollisionModel" />
      <MechanicalObject src="@loader" name="instrumentCollisionState"  scale="0.05" />
      <Line name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Point name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Triangle name="instrument" tags="CarvingTool" contactStiffness="2" />
      <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
    </Node>
  </Node>

  <Node name="Connector" >
    <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="Rigid" />
    <UniformMass name="mass" totalmass="0.05" />
    <LCPForceFeedback activate="true" forceCoef="0.001"/>
    <UncoupledConstraintCorrection/>
    <Node name="VisualModel" >
      <OglModel name="InstrumentVisualModel" fileMesh="C:\Users\Fayad\Documents\sofa\scissor_very_low_connector.obj" color="blue" scale="0.05" />
      <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
    </Node>
    <Node name="CollisionModel" >
      <MeshObjLoader filename="C:\Users\Fayad\Documents\sofa\scissor_very_low_connector.obj"  name="loader"/>
      <Mesh src="@loader" name="InstrumentCollisionModel" />
      <MechanicalObject src="@loader" name="instrumentCollisionState"  scale="0.05" />
      <Line name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Point name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Triangle name="instrument" tags="CarvingTool" contactStiffness="2" />
      <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
    </Node>
  </Node>

  <Node name="Base" >
    <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="Rigid" />
    <UniformMass name="mass" totalmass="0.05" />
    <LCPForceFeedback activate="true" forceCoef="0.001"/>
    <UncoupledConstraintCorrection/>
    <Node name="VisualModel" >
      <OglModel name="InstrumentVisualModel" fileMesh="C:\Users\Fayad\Documents\sofa\scissor_very_low_base.obj" color="blue" scale="0.05" />
      <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
    </Node>
    <Node name="CollisionModel" >
      <MeshObjLoader filename="C:\Users\Fayad\Documents\sofa\scissor_very_low_base.obj"  name="loader"/>
      <Mesh src="@loader" name="InstrumentCollisionModel" />
      <MechanicalObject src="@loader" name="instrumentCollisionState"  scale="0.05" />
      <Line name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Point name="instrument" tags="CarvingTool" contactStiffness="2" />
      <Triangle name="instrument" tags="CarvingTool" contactStiffness="2" />
      <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
    </Node>
  </Node>

[Hugo]

Dear @fayad !

Nice to see you active on the forum. And I saw that you already got some help from @secretdevil in other topics. Great to see and thank you Binesh.

Regarding your current topic, all you need is to create groups of contacts. In your scene, you can:
– add group=”1″ to all scissor parts
– add group=”2″ to any additional object you want to collide with
Thus, the collision between scissor parts won’t be computed. The group datafield has to be specified in all collision models (Point, Line, Triangle).

Hope this helps.
Best

Hugo

[Anonymous]

Yup that works. Thanks Hugo 🙂

Best,
Fayad

[Anonymous]

I also would like to know how to move all the individual parts together, so when I try moving them with my mouse or keyboard, I dont move only the part I am selecting, but all of them at the same time.

Best,
Fayad

[Binesh]

Dear @fayad
For move all part of instrument you must implement your code for your instrument,
For Example, Forceps Instrument can implement by three part and you must handle Left and Right and tube by Quaternion

[Anonymous]

Thanks @Binesh.

Best,
Fayad

[Author]

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