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Salut Jean-Nicolas,
I tested your scene locally with an Omni.
My guess is that the problem is due to the FixedConstraint. But no worries, this is normal. While solving the constraints, the velocity of the points is increased (due to collision response). But in the FixedConstraint, ONLY the positions are fixed. When collisions are computed, they impact the velocity, thus creating a drift of the point/object.If you want also the velocity to be fixed, the short way is to uncomment the code starting at lines 253 in FixedConstraint.inl:
#if 0 /// @todo ADD A FLAG FOR THISBut a clean way would be to write a class derivating from FixedConstraint, also fixing the velocities.
Another solution is to used RestShapeSpringForceField instead of FixedConstraint, but this does not really respect any realistic physics.
Cheers,
Hugo
Dear Alison & Jenny,
For topological changes, there is relatively easy way of dealing with it in SOFA. All you need is:
- a topology with a Container (e.g. EdgeSetTopologyContainer if you work with edges),
- and a topological modifier (e.g. EdgeSetTopologyModifier with edges).
Thus, you will be able to call the functions of the modifier to change the topology as you want.
There is unfortunately few examples in the public version of SOFA. In the code of the component VectorSpringForceField.inl (in modules/SofaDeformable/ at line 273) you have an example of edge removal. And the scene examples/Demos/TriangleSurfaceCutting.scn is a good example of topological changes (with right click and wheel click).
Hope this helps.
Best regards,Hugo
No worries.
I would advise you to delete your build/ folder and recreate a new one.
And restart the build process with default options.For haptic feedback, we are currently preparing the release of a new plugin for Omnis (Geomagic). But this might take a bit of time. The first step would be to look at the examples (folder examples/) and the documentation to understand how SOFA is working.
If you need any training sessions for SOFA, the SOFA Consortium may provide you this service. For more information, please visit the service page.
Best,
Hugo
Hi Francesco,
I am no expert in collisions and constraints.
However, you can first have a look at the book chapter about SOFA.
There is also many publications using collision detection in SOFA.
I found the following ones:- Constraint-based haptic rendering of multirate compliant mechanisms
- Volume Contact Constraints at Arbitrary Resolution
Hope this helps.
If you have more precise questions, I could put you in contact with the associated SOFA developer.Cheers,
Hugo
Thank you very much for your feedback Medhi.
As usual, if you face any future issue, do not hesitate to come back to the forum!Cheers,
Hugo
Dear ,
I am no expert in constraint solvers in SOFA. Nevertheless, I asked for some explanations, here are my understanding:
- The GenericConstraintSolver is a generic way of solving the constraints. It calls the constraint resolution and therefore allows to use any law (e.g. any contact law) that you want.
- LCPSolver is not really used anymore, but it corresponds to a pure Gauss Seidel resolution. This would be equivalent to a GenericConstraintSolver + BilateralConstraint
Hope this helps,
Cheers,Hugo
Dear Malli,
I strongly advise NOT to activate all the plugins.
Only the default configuration of SOFA is officially supported.
Of course, if you need a specific, non-compiled plugin, we can help you.
But compiling almost all possible plugins is not desirable.What functionalities do you really need?
Dear Jenny,
We are letting this thread open for you, so that you can post any future question.
If you have any other question (unrelated to this topic), do not hesitate to create a new thread.
Best regards,Hugo
The thread is now closed.
Do not hesitate to post a new thread for any new questions about interactions in SOFA.Best,
Hugo
Dear Wong,
Did my previous message help you in the development of your grasping scene?
Do you need any further assistance?
With no answer from you, we’ll have to close the thread.Best regards,
Hugo
Hi Alison,
Did my previous message help you in the development of your simulation?
Do you need any further assistance?
With no answer from you, we’ll have to close the thread.Best regards,
Hugo
Hi @vmenon,
Did you succeed to use the ParallelScheduler as you wanted?
Can we help any further ?Best,
Hugo
Hi Bushra !
This has been a long time!
Any progress with the Xitact? Are you finally using it?
Best regards,Hugo
I guess the Fred’s answer solved your problem, right JuanJo ?
If you need anything, re-open the thread.
Cheers,Hugo
This thread is now considered as solved.
If you face any trouble installing SOFA please let us know in a dedicated thread.Best regards,
Hugo
Hi Mehdi,
Do you need further assistance on this topic?
Otherwise, we will consider this thread as solved.Cheers,
Hugo
Dear @allenasha,
With no news about this topic, I will have to close the thread.
Do not hesitate to react if there is any news / infos about this.Cheers,
Hugo
Hi Thomas,
Any progress ? Did you succeed in finding the source of the memory leak?
If so, you can now pull-request your updates using GitHub.Cheers,
Hugo
Hi JuanJo,
I think we answered your question about this point.
If you have any further questions or issues do not hesitate to create a new thread.Best,
Hugo
