[Scheikl]

Hi @hugo,
I took the liberty of doing that. 😀

Cheers,
Paul

[Scheikl]

Hi Hugo,
a happy new year to you too! 🙂

For some reason the issue was solved by the universal solution: reboot
I still have no idea why the error occurred in the first place or why it did not persist.
I did not rerun cmake.

Cheers,
Paul

[Scheikl]

Hi @newbie,
you might want to check out SofaPython3.

There is a binding for the ContactListener, so you can create a ContactListener object with

`
listener = contactlistener.addObject(
“ContactListener”,
collisionModel1=”@/finger/collisionFinger/triangle”,
collisionModel2=”@/skin/SkinCollision/point”,
)
`

Now you can add any functions from the c++ code to create bindings for it.

Sadly I really do not know how to do that with SofaPython2.

Cheers,
Paul

[Scheikl]

You’re very welcome! 🙂

Thanks, you too!

[Scheikl]

Hi @chiarasapo,
glad I could help!

I would suggest using a Sofa.Core.Controller to call the function on a specified event, such as AnimateEndEvent.
There is a nice example in the SofaPython3 repo.

Just delete all the functions that you do not need. 🙂
For example

class PrintContactController(Sofa.Core.Controller):

    def __init__(self, *args, **kwargs):
        Sofa.Core.Controller.__init__(self, *args, **kwargs)

    def init(self, contact_listener):
        self.contact_listener = contact_listener

    def onAnimateBeginEvent(self, event): # called at each begin of animation step
        print(self.contact_listener.getNumberOfContacts())

Cheers,
Paul

[Scheikl]

Hi @chiarasapo,
are you using SofaPython3 out-of-tree?

Also try removing the build folder to start clean.

What may also help is doing a separate install step after building.
cmake --install <sofa target folder>/external_directories/sofapython3/bindings

Cheers,
Paul

[Scheikl]

Hi @chiarasapo,
as you can see in the bindings for ContactListener, the method getNumberOfContacts is commented out. Could you try uncommenting and recompile it?

Cheers,
Paul

[Scheikl]

Hi @newbie,
you might want to check out SofaPython3.

There is a binding for the ContactListener, so you can create a ContactListener object with

   listener = contactlistener.addObject(
        “ContactListener”,
        collisionModel1=”@/finger/collisionFinger/triangle”,
        collisionModel2=”@/skin/SkinCollision/point”,
    )

Now you can add any functions from the c++ code to create bindings for it.

Sadly I really do not know how to do that with SofaPython2.

Cheers,
Paul

[Scheikl]

Hi @newbie,
I just tested the scene, and the following works fine for me:

    contactlistener.addObject(
        "ContactListener",
        collisionModel1="@/finger/collisionFinger/triangle",
        collisionModel2="@/skin/SkinCollision/point",
    )

Cheers,
Paul

[Scheikl]

Hi @newbie,
I totally missed the fact, that you gave the models a specific name, sorry. 😀
Try replacing the type of Object (TriangleCollisionModel) with the name you gave it (triangle). Same for the PointCollisionModel.

Cheers,
Paul

[Scheikl]

Hi @newbie,
ah the ContactListener is not in the root node, so your path misses going up one step in the tree.
You could try

contactlistener.createObject('ContactListener', collisionModel1 = '@../skin.SkinCollision.TriangleCollisionModel', collisionModel2 = '@../finger.collisionFinger.PointCollisionModel')

Cheers,
Paul

[Scheikl]

Hi @newbie,
by specifying collisionModel1 = '@skin.SkinCollision' you are not pointing to an actual collision model, but to a SofaNode that contains multiple collision models.

Try changing that to
contactlistener.createObject('ContactListener', collisionModel1 = '@skin.SkinCollision.TriangleCollisionModel', collisionModel2 = '@finger.collisionFinger.PointCollisionModel')

The object should now listen for collisions between the TriangleCollisionModel of the skin and the PointCollisionModel of finger.

Cheers,
Paul

[Scheikl]

Hi @newbie,
sadly I started using Sofa with SofaPython3 directly so I’ve never really used SofaPython2.

Is there an error message you could post?

Is the relative path to SkinCollision and collisionFinger correct?

Cheers,
Paul

[Scheikl]

Hi @newbie,
please note, that there is a difference between SofaPython and the Plugin SofaPython3.

Python scripting

If you are using SofaPython3, you can add a ContactListener with

    listener = scene_node.addObject(
        "ContactListener",
        name="TestContactListener",
        collisionModel1=body1.collision.PointCollisionModel.getLinkPath(),
        collisionModel2=body2.collision.TriangleCollisionModel.getLinkPath(),
    )

This one will listen for contacts between PointCollisionModels on body1 and TriangleCollisionModels on body2.

Cheers,
Paul

[Scheikl]

Hi Sergio,
you’re welcome!
Glad that I could help. 🙂

Cheers,
Paul

[Scheikl]

Hi Sergio,
I think PartialFixedConstraint is what you are looking for.

There is an example at https://github.com/sofa-framework/sofa/blob/master/examples/Components/constraint/PartialFixedConstraint.scn

<PartialFixedConstraint name="partialFixedConstraint" indices="3 39 64" fixedDirections="0 1 1" />

Cheers,
Paul

[Scheikl]

Hi Simit,
you can pass additional arguments to the runSofa binary.
runSofa --help gives you a detailed list of possible options.

Directly running a simulation can be done with
./runSofa -a 1 /path/to/scene/file

Cheers,
Paul

[Scheikl]

Hi @andrija987,
no worries :).

Ok now I get it!
I think ArticulatedSystemMapping should do the trick!
An example can be found here:
https://github.com/sofa-framework/sofa/blob/master/examples/Components/mapping/ArticulatedSystemMapping.scn

And there is also a very nice explanation in the documentation:
https://www.sofa-framework.org/community/doc/components/mapping/articulatedsystemmapping/

So basically what you would do is creating a linear joint, that is attached to your big “carrier” cube.

Hope that helps!

Cheers,
Paul

[Scheikl]

I’d give the reply above a thumbs up, if I could. ;D

[Scheikl]

Hi past @scheikl ,
you have to create the interactiveCamera at the root node to get the correct behavior.

Maybe @hugo can elaborate as to why that is. 😀

Cheers,
Paul

[Scheikl]

Hi!
I have a related problem.
I am able to control the internal data of an interactiveCamera, but it does nothing to the view itself, even though I made sure I am using the OpenGL view.

You can find a video of the behavior here: https://cloud.ipr.kit.edu/s/y2tjFW2Za4CX5p2

The code to set the pose is

def move_cam(camera, pose: Tuple[float, float, float, float]):
    camera.position.value = pose[:3]
    camera.orientation.value = pose[3:]

SOFA: v2012_beta
SP3: master

Cheers,
Paul

[Scheikl]

Hi @andrija987,
sorry for the late reply, and that I could not help you solve the problem. 🙁

I am looking forward to the new issue, maybe we can approach that from another angle.

Cheers,
Paul

[Scheikl]

Hi @hugo ,
thanks for the follow-up! 🙂

Yes and no.
I would like tho get a measure of how much overlap is between two volumetric meshes.
I guess that should happen outside of the collision pipeline.
For example a small ball inside (at the center) of a large ball would not stand in collision with the larger ball.
So I am looking for something like

>>> std::cout << getOverlap(collisionModelSmallBall, collisionModelLargeBall) << "\n";
1.0

Cheers,
Paul

[Scheikl]

Hi @twxu ,
sadly I am not familiar with the underlying code, but I guess there is some Matrix inversion involved which would make the computation scale roughly cubic.

I did not have the chance to work with cavity inside meshes yet.
Maybe someone from the SoftRobots Plugin (for example @@sescaida) could give you more info on that?

You are very welcome. 🙂

[Scheikl]

Hi @twxu,
the computation time increases with your model size.

Are your models maybe a bit too large?
The Liver of the demo scene examples/demos/liver.scn, for example, has 181 points.

Cheers,
Paul

[Author]

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