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

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merged 4 commits into from
Nov 13, 2022
Merged

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

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0a1d683
[scenes] Fix and update haptic carving scenes
epernod Nov 12, 2022
27a3930
[scenes] Fix and update haptic carving scenes
epernod Nov 13, 2022
cb7033f
Add carving against rigid cube
epernod Nov 13, 2022
a400693
Add scene with Geomagic and burning
epernod Nov 13, 2022
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6 changes: 3 additions & 3 deletions examples/Cube_AdvCarvingTexcoords.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -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" >
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76 changes: 0 additions & 76 deletions examples/Geomagic-ACarving-tetra2triangle.scn
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65 changes: 0 additions & 65 deletions examples/Geomagic-ACarving.scn
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118 changes: 118 additions & 0 deletions examples/Geomagic-AdvCarving.scn
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@@ -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>
2 changes: 2 additions & 0 deletions examples/Geomagic-AdvCarving.scn.qglviewer.view
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
-26.4817 33.5874 3.80545
-0.239151 -0.629519 -0.295128 0.6778
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