[luibass92]

Hi jnbrunet,

in my code I used this collision methods:

<Node name="Index">

              <Node name="Collision" activated="1">
                    <MeshObjLoader name="MeshLoader"  filename="mesh/index1.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
		    <Mesh src="@MeshLoader" /> 
                    <MechanicalObject template="Vec3d" src="@MeshLoader"  />
                    <TriangleModel />
                    <LineModel />
                    <RigidMapping  input="@.." index="0" />
                </Node>

                <Node name="Collision" activated="1">
                    <MeshObjLoader name="MeshLoader"  filename="mesh/index2.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
		    <Mesh src="@MeshLoader" /> 
                    <MechanicalObject template="Vec3d" src="@MeshLoader"  />
                    <TriangleModel />
                    <LineModel />
                    <RigidMapping  input="@.." index="1" />
                </Node>

                .
                .     All the other parts of the index finger...
                .
</Node>

<Node name="Thumb">
               <Node name="Collision" activated="1">
                    <MeshObjLoader name="MeshLoader"  filename="mesh/thumb1.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
		    <Mesh src="@MeshLoader" /> 
                    <MechanicalObject template="Vec3d" src="@MeshLoader"  />
                    <TriangleModel />
                    <LineModel />
                    <RigidMapping  input="@.." index="0" />
                </Node>

                <Node name="Collision" activated="1">
                    <MeshObjLoader name="MeshLoader"  filename="mesh/thumb2.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
		    <Mesh src="@MeshLoader" /> 
                    <MechanicalObject template="Vec3d" src="@MeshLoader"  />
                    <TriangleModel />
                    <LineModel />
                    <RigidMapping  input="@.." index="1" />
                </Node>
                .
                .     All the other parts of the thumb finger...
                .
</Node>

And so on for each finger.....

In this case how can I choose a group?

Thanks for your interest, Luigi

[luibass92]

OK, thanks, I will create another topic about collisions

[luibass92]

Thanks for your reply Hugo,

I’ve already solved the problem replacing the “Collision” and “Visu” nodes with the following:

<Node name="Collision">
                    <MeshObjLoader name="MeshLoader"  filename="mesh/base10.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
		    <Mesh src="@MeshLoader" /> 
                    <MechanicalObject template="Vec3d" src="@MeshLoader"  />
                    <TriangleModel />
                    <LineModel />
                    <RigidMapping  input="@.." index="0" />
                </Node>
                <Node name="Visu">
                    <OglModel name="Visual" filename="mesh/base10.obj" scale="100" translation="0 -3 0" rotation="0 0 0"/>
                    <RigidMapping template="Rigid3d,ExtVec3f" input="@.." index="0" output="@Visual" />
                </Node>

It worked fine.

Do you know if it is possible to not check collisions between certain parts of the scene?

I’ve created a robotic hand in SOFA made by 5 articulated chains (one for each finger) with all the relative meshes. The problem is that the collision checking algorithm makes the simulation really slow even if I don’t need to check the collisions between one finger and another or between the parts of a single finger, but just with other objects in the scene.

Thanks for your support,

Luigi

[luibass92]

I found out that opening the same scn file in an old version of SOFA it works, so I guess that SOFA v16.08 has a bug in the generating mesh process.
In particular it doesn’t place the cuboids in the right location, it places all the cuboids in the same location (the orgin). This causes also a problem with the collision detection algorithm that, obviously, detects a collision for every single time-step.

Someone from the SOFA Consortium can confirm me this fact?

Thanks

[luibass92]

I think I’ve solved this issue just creating another “ArticulatedHierarchyContainer” with his own “ArticulationCenters”… It seems to work now!

[luibass92]

I’ve just seen the example, it seems useful but really hard to understand for a really new user like me.
I was looking for something easy like two or three links linked by rotational joints or something similar.

Thanks, Luigi.

[luibass92]

Hi Matthieu,

first of all thanks for your reply.
I have tried to install the Compliant plugin: I have done the configuration another time checking the right box and I have done the make another time, but I have the following error during the make process

In file included from /home/luigi/sofa/v16.08/src/applications/plugins/Compliant/initCompliant.cpp:26:0:
/home/luigi/sofa/v16.08/src/applications/plugins/Compliant/../SofaPython/PythonCommon.h:28:24: fatal error: Python.h: File o directory non esistente
 #    include <Python.h>
                        ^
compilation terminated.
make[2]: *** [applications/plugins/Compliant/CMakeFiles/Compliant.dir/initCompliant.cpp.o] Errore 1

Do you know how to solve it? It seems that the Python.h file included in the PythonCommon.h is lost.
Maybe it’s useful to know that during the configuration I haven’t installed anything but the default things and the Compliant plugin.

EDIT: I have solved the problem installing the PLUGIN_SOFAPYTHON too. Now the compilation works.

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