[scenes] Fix and update all carving scenes with Geomagic (#7)

* [scenes] Fix and update haptic carving scenes

* Add carving against rigid cube

* Add scene with Geomagic and burning

examples/Cube_AdvCarvingTexcoords.scn

@@ -37,11 +37,11 @@
     <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.1" />
     <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>
 
-    <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.5" 
-        carvingWithBurning="1" drawContacts="1"/>
+    <AdvancedCarvingManager name="ACarving" active="1" refineDistance="1.0" carvingDistance="0.05" 
+        carvingWithBurning="1" drawContacts="0"/>
 
     <Node name="carvingElement">
-        <MechanicalObject name="Particles" template="Rigid3d" position="5 15 5 0 0 0 1" />
+        <MechanicalObject name="Particles" template="Rigid3d" position="5 12 5 0 0 0 1" />
         <UniformMass name="Mass" totalMass="10.0" template="Rigid3d"/>
         <SphereCollisionModel name="tool" radius="0.1" tags="CarvingTool"/>
         <Node name="VisuTool" >

examples/Geomagic-AdvCarving.scn

@@ -0,0 +1,118 @@
+<?xml version="1.0" ?>
+<Node name="root" dt="0.05" gravity="0 -9 0" >
+    <VisualStyle displayFlags="hideVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields" />
+
+    <Node name="RequiredPlugins">
+        <RequiredPlugin name="Geomagic"/> <!-- Needed to use components [GeomagicDriver] -->
+        <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/> <!-- Needed to use components [BVHNarrowPhase, BruteForceBroadPhase, DefaultPipeline] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> <!-- Needed to use components [LocalMinDistance] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->
+        <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
+        <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
+        <RequiredPlugin name="Sofa.Component.Engine.Select"/> <!-- Needed to use components [BoxROI] -->
+        <RequiredPlugin name="Sofa.Component.Haptics"/> <!-- Needed to use components [LCPForceFeedback] -->
+        <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
+        <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [SparseLDLSolver] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
+        <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass, UniformMass] -->
+        <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
+        <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
+        <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms, TetrahedronSetTopologyContainer, TetrahedronSetTopologyModifier, TriangleSetGeometryAlgorithms, TriangleSetTopologyContainer, TriangleSetTopologyModifier] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
+        <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Hexa2TetraTopologicalMapping, Tetra2TriangleTopologicalMapping] -->
+        <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
+        <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
+        <RequiredPlugin name="InfinyToolkit" />        
+    </Node>
+
+    <DefaultVisualManagerLoop />    
+    <FreeMotionAnimationLoop/>
+    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
+
+    <DefaultPipeline name="pipeline" depth="6" verbose="0"/>
+    <BruteForceBroadPhase/>
+    <BVHNarrowPhase/>
+    <DefaultContactManager name="response" response="FrictionContactConstraint" />
+    <MinProximityIntersection name="Proximity" alarmDistance="1.0" contactDistance="0.1" />
+
+    <GeomagicDriver name="GeomagicDevice" deviceName="Default Device" scale="1" drawDeviceFrame="1" 
+        positionBase="0 0 0" orientationBase="0 0.707 0 -0.707" drawDevice="0"/>
+	<AdvancedCarvingManager active="@GeomagicDevice.button1" refineDistance="1.0" refineCriteria="0.5" carvingDistance="0.1" 
+        carvingWithBurning="0" carvingWithRefinement="0" drawContacts="0"/>
+
+
+    <Node name="ToolController">
+        <MechanicalObject template="Rigid3" name="DOFs" position="@GeomagicDevice.positionDevice"/>
+    </Node>
+
+
+	<Node name="Hexa2Tetra" >
+        <RegularGridTopology name="HexaTop" n="7 7 7" min="1 0 3" max="11 10 13" />
+        <TetrahedronSetTopologyContainer name="Container" position="@HexaTop.position" />
+        <TetrahedronSetTopologyModifier name="Modifier"/>
+        <Hexa2TetraTopologicalMapping input="@HexaTop" output="@Container" swapping="false" />
+    </Node>
+
+    <Node name="Cube">
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+        <MechanicalObject position="@../Hexa2Tetra/Container.position" name="Volume" />
+
+        <TetrahedronSetTopologyContainer name="Tetra_topo" src="@../Hexa2Tetra/Container" />
+        <TetrahedronSetTopologyModifier name="Modifier" />
+        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
+
+        <DiagonalMass massDensity="10.0" />
+
+        <BoxROI name="box" box="-1 -1 -1 12 0 14" drawBoxes="true" />
+        <FixedConstraint  name="FixedConstraint" indices="@box.indices" activate_projectVelocity="1"/>
+
+        <TetrahedralCorotationalFEMForceField name="CFEM" youngModulus="5000" poissonRatio="0.3" method="large" />
+        <LinearSolverConstraintCorrection/>
+        <Node name="Surface">
+            <TriangleSetTopologyContainer  name="Container"/>
+            <TriangleSetTopologyModifier   name="Modifier" />
+            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
+            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
+
+            <TriangleCollisionModel name="triangleCol" tags="CarvingSurface"/>
+            <LineCollisionModel name="instrumentLine" />
+            <PointCollisionModel name="pointCol" tags="CarvingSurface"/>
+
+            <Node name="liver-Visual">
+                <OglModel name="Visual" texturename="textures/colorMap.png" />
+                <IdentityMapping input="@../../Volume" output="@Visual" />
+            </Node>
+        </Node>
+    </Node>
+
+
+    <Node name="Instrument" >
+        <EulerImplicitSolver name="ODE solver" rayleighStiffness="0.05" rayleighMass="1.0" />
+		<SparseLDLSolver template="CompressedRowSparseMatrixMat3x3d"/>
+
+		<MechanicalObject name="instrumentState" template="Rigid3" tags="GeomagicDevice" position="@../GeomagicDevice.positionBase"/>
+		<UniformMass name="mass" totalMass="0.1" />
+
+		<RestShapeSpringsForceField stiffness='1000000' angularStiffness='1000000' external_rest_shape='@../ToolController/DOFs' points='0' external_points='0' />
+        <LCPForceFeedback activate="true" forceCoef="0.001"/>
+        <LinearSolverConstraintCorrection/>
+
+        <Node name="CollisionModel" >
+            <MeshOBJLoader filename="./mesh/drill_collision.obj"  name="loader"/>            
+            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
+            <MechanicalObject src="@loader" name="instrumentCollisionState"  ry="-180" rz="-90" dz="3.5" dx="0.0" />
+            <LineCollisionModel name="instrumentLine" contactStiffness="10" />
+            <PointCollisionModel name="instrumentPoint" contactStiffness="10" tags="CarvingTool" /> 
+            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />
+        </Node>        
+    </Node>
+
+</Node>

examples/Geomagic-AdvCarving.scn.qglviewer.view

@@ -0,0 +1,2 @@
+-26.4817 33.5874 3.80545
+-0.239151 -0.629519 -0.295128 0.6778