Artefact in the simulation while tearing with haptic device #3824

divybaid · 2023-04-25T11:24:59Z

divybaid
Apr 25, 2023

Hi,
I am trying to perform cutting of a membrane in sofa for which i am using infinytech3D Tearing plugin but while using that plugin i have been encountering with below artefact(last part of the video) -:

Screencast.from.25-04-23.04.00.22.PM.IST.webm

Any reasons why this would be occuring and also if there is any fix then do let me know.
Thanks in advance.

hugtalbot · 2023-04-25T12:20:32Z

hugtalbot
Apr 25, 2023
Maintainer

Hi @divybaid

Could you please share your scene file ?
It looks like a stiffness in bending (out of plane) is needed.

3 replies

divybaid Apr 25, 2023
Author

Below is the complete scene file in which the membrane is Node with name SquareGravity and tool1 is the cylinderical tool controlled by haptic device.

<?xml version="1.0"?>
<Node name="root" dt="0.02" showBoundingTree="0" gravity="0 0 0">
    <RequiredPlugin name="SofaBoundaryCondition"/> <!-- Needed to use components [FixedConstraint] -->  
    <RequiredPlugin name="SofaConstraint"/> <!-- Needed to use components [FreeMotionAnimationLoop, LCPConstraintSolver, LocalMinDistance, UncoupledConstraintCorrection] -->  
    <RequiredPlugin name="SofaGeneralDeformable"/> <!-- Needed to use components [TriangularBendingSprings, VectorSpringForceField] -->  
    <RequiredPlugin name="SofaImplicitOdeSolver"/> <!-- Needed to use components [EulerImplicitSolver] -->  
    <RequiredPlugin name="SofaLoader"/> <!-- Needed to use components [MeshOBJLoader] -->  
    <RequiredPlugin name="SofaMeshCollision"/> <!-- Needed to use components [LineCollisionModel, PointCollisionModel, TriangleCollisionModel] -->  
    <RequiredPlugin name="SofaMiscFem"/> <!-- Needed to use components [TriangularFEMForceField] -->  
    <RequiredPlugin name="SofaRigid"/> <!-- Needed to use components [RigidMapping] -->  
    <RequiredPlugin name="SofaUserInteraction"/> <!-- Needed to use components [MechanicalStateController] -->  
    <RequiredPlugin name="SofaOpenglVisual"/>
    <RequiredPlugin pluginName='SofaHaptics'/>
<AddPluginRepository path="/home/divy/sofa_gl_ren" />
    <RequiredPlugin pluginName="Custom" />
 <AddPluginRepository path="/home/divy/SOfa_hapi" />
    <RequiredPlugin pluginName="SofaHAPI" />
    <!--<AddPluginRepository path="/home/divy/build" />
    <RequiredPlugin pluginName="MyAwesomeComponents" />-->
    <AddPluginRepository path="/home/divy/buid_tea/lib" />
		<RequiredPlugin name="Tearing"/>
    <FreeMotionAnimationLoop />
	<!--<GenericConstraintSolver />-->
	<LCPConstraintSolver tolerance="0.001" maxIt="1000"/>
    <VisualStyle displayFlags="" />
    <!--<DefaultPipeline depth="8" />-->
    <CollisionPipeline name="pipeline" depth="6" verbose="0"/>
    <BruteForceBroadPhase/>
    <BVHNarrowPhase/>
 <!-- <LocalMinDistance name="Proximity" alarmDistance="0.6" contactDistance="0.3" />-->
 <LocalMinDistance name="proximity" />
	<!--<DefaultContactManager name="Response" response="FrictionContactConstraint"/>4 0 12 0.447213595 0 0 0.894427191-->
	<CollisionResponse name="response" response="FrictionContact" />
	<DefaultVisualManagerLoop />
    <Node name="OmniObject">
		<Node name="RigidLayer">
			<MechanicalObject name="ToolRealPosition" template="Rigid3d" position="0 0 0 0 0 0 1"/>
			<HAPIHapticsDevice name="omniDriver1" scale="300" drawDevice="0" permanent="1"  printLog="true" handleEventTriggersUpdate="true" drawForceScale="1.0"
				    positionBase="180 -50 -60" orientationBase="0 1 0 1"
				    positionTool="0 0 0" orientationTool="0 0 0 1" />
				    
			<Node name="Tool1">
				<MechanicalObject template="Rigid3d" name="RealPosition"/>
				<SubsetMapping indices="0"/>
			</Node>
		</Node>
	</Node>
	<Node name="Tool1">	
		<EulerImplicitSolver printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
		<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
		
		<MechanicalObject name="ms" template="Rigid3d"  position="0 0 0 0 0 0 1"  />
		<UniformMass totalmass="1.0" />
		<!--<SphereCollisionModel name="Floor1" radius="1" simulated="1" moving="1" contactStiffness="100" />-->
		<LCPForceFeedback activate="true" forceCoef="0.00001" /><!--enable draw and see the results-->

		<Node name="Collision">
			<MeshTopology name="me" filename="mesh/ball.obj"   />	 
			<!--<MeshTopology position="0 0 0   0 0 10" linescylinder_new="0 1"  />-->
			<MechanicalObject name="CM" scale="1" ry="90"  />
			
			<SphereCollisionModel name="Floor1" radius="1" simulated="1" moving="1" contactStiffness="10" />
			 <!--<TriangleCollisionModel simulated="true" active="true" moving="true"/>
			<!--<TriangleCollisionModel bothSide="true" group="1" color="0 0 1 1" />
			<LineCollisionModel  bothSide="true" group="1" />
			<PointCollisionModel bothSide="true" group="1" />-->
			<RigidMapping />
			<Node >
            <OglModel name="Visual1" texcoords="@../me.texcoords" texturename="textures/colorMap.png" />
            <IdentityMapping input="@.." output="@Visual1" />
        </Node>
		</Node>
		

		<RestShapeSpringsForceField template="Rigid3d" stiffness="10000000" angularStiffness="200000000" external_rest_shape="@../OmniObject/RigidLayer/Tool1/RealPosition" /><!--try changing rigid3d to vec3d and see if the dof is restricted--><!--In summary, this Rest Shape Springs Force Field will apply a force to keep the rigid body in its specified rest shape, and the stiffness and angularStiffness parameters control how strong that force is.-->
		<UncoupledConstraintCorrection compliance="0.001   0.00003 0 0   0.00003 0   0.00003" /><!--So, in this case, the constraints are relatively stiff in the translation DOFs (with compliance values of 0.001 for the x, y, and z DOFs), but more flexible in the rotational DOFs (with compliance values of 0.00003 for the x, y, and z rotational DOFs). This means that the object will be relatively difficult to move or translate in any direction, but will be able to rotate more easily.-->
	</Node>

		<Node name="Tool2">	
		<EulerImplicitSolver printLog="false"  rayleighStiffness="0.1" rayleighMass="0.1" />
		<CGLinearSolver iterations="25" tolerance="1e-5" threshold="1e-5"/>
		
		<MechanicalObject name="ms" template="Rigid3d"  position="@../OmniObject/RigidLayer/Tool1/RealPosition.position"/>
		<UniformMass totalmass="1.0" />
		<!--<SphereCollisionModel name="Floor1" radius="1" simulated="1" moving="1" contactStiffness="100" />-->
		<!--<LCPForceFeedback activate="true" forceCoef="0.00001" />-->

		<Node name="Collision">
			<MeshTopology name="me" filename="mesh/ball.obj"  />	 
			<!--<MeshTopology position="0 0 0   0 0 10" lines="0 1"  />-->
			<MechanicalObject name="CM" />
			<!--<SphereCollisionModel name="Floor1" radius="1" simulated="1" moving="1" contactStiffness="100" />-->
			<!--<TriangleCollisionModel bothSide="true" group="1" color="0 0 1 1" />
			<LineCollisionModel  bothSide="true" group="1" />
			<PointCollisionModel bothSide="true" group="1" />-->
			<RigidMapping />
			
		</Node>
		

		<RestShapeSpringsForceField template="Rigid3d" stiffness="10000" angularStiffness="200000000" external_rest_shape="@../OmniObject/RigidLayer/Tool1/RealPosition" />
		<UncoupledConstraintCorrection compliance="0.001   0.00003 0 0   0.00003 0   0.00003" />
	</Node>

    <Node name="SquareGravity" >
        <EulerImplicitSolver name="odesolver" printLog="false" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-10" threshold="1.0e-10" />
        <MeshOBJLoader name="meshLoader" filename="mesh/mem1_less.obj" scale="10" createSubelements="true" />
        <TriangleSetTopologyContainer  name="Container" src="@meshLoader"/>
        <TriangleSetTopologyModifier   name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" />
        <MechanicalObject name="Mo" scale3d="1 1 1" />
        
       <DiagonalMass massDensity="1.9" />
         
         <!--<FixedConstraint />

<!-- 		<PrecomputedConstraintCorrection recompute="1"/> -->
		<!--<UncoupledConstraintCorrection compliance="0.005"/>-->

        <!-- <TriangularFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.1" method="large" /> 
        <TriangularBendingSprings name="FEM-Bend" stiffness="10" damping="1.0" />-->
        <TriangularFEMForceField name="FEM" youngModulus="6000" poissonRatio="0.3" method="large" computePrincipalStress="1"/>
        <TriangularBendingSprings name="FEM-Bend" stiffness="3000" damping="1.0" />
        <TriangleCollisionModel bothSide="true" simulated="true" active="true" moving="true" />
        <LineCollisionModel name="CML"  />
          <PointCollisionModel name="CMP" />
        <!--<TearingComponent name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />-->
<!-- 		<RestShapeSpringsForceField stiffness="1e10" points="@box_roi.indices" />-->
        <!--<FixedConstraint indices="617 618 57 1301 1302 49 48 54 31 32 287 91 92 297 298 687 131 132 289 290 1266 1362 689 600 472 473 690 674 300 301 678 1280 1314 143 144 4 5 621 622 22 23 138 139 282 278 279 514 503 504 682 1252 442 443 1253 528 529 497 498 699 694 693 1287 1345 1134 1135 634 635 165 166 692 1360 1359 43 44 304 75 76 683 684 1346 1343 702 59 60 1271 1337 1213 696 544 545 284 285 1272 88 89 675 25 26 52 53 1 2 58 15 16 673 1327 155 156 203 288 292 293 1284 573 374 375 685 1319 1312 480 481 676 677 1268 83 84 633 701 1316 264 695 "/>

<!-- 		<PrecomputedConstraintCorrection recompute="1"/> -->
<FixedConstraint indices="116 115 52 124 123 113 112 111 110 109 108 107 27 9 106 105 104 103 102 101 121 79 75 120 73 119 118 17 126 117 125 71 70 69 68 67 66 65 64 63 62 61 60 32 2 57"/>
<!--<FixedConstraint />-->
		<UncoupledConstraintCorrection compliance="0.03"/> 
        <TearingEngine name="TearingEngine" input_position="@Mo.position" stressThreshold="10.0" 
            step="5" nbFractureMax="20" showFracturePath="1" showTearableTriangle="0"/>
            <!--
        <TearingComponent name="FEM" youngModulus="1000" poissonRatio="0.3" method="large" />
        <!-- <ConstantForceField indices="857" force="-800 -800 0" showArrowSize="0.1"/> -->
        <!-- <ConstantForceField indices="857" force="0 0 100"  showArrowSize="0.1"/> -->
        <!-- <ConstantForceField force="0 0 10"/> -->
        <Node name="Surface">
	      <TriangleSetTopologyContainer src="@../../InputMesh" />
          <MechanicalObject />
          <TriangleCollisionModel name="CMT" />
          <LineCollisionModel name="CML" />
          <PointCollisionModel name="CMP" />
          <BarycentricMapping useRestPosition="1" />
          
        </Node>
        <Node >
            <OglModel name="Visual" texcoords="@../meshLoader.texcoords" texturename="textures/colorMap.png" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
    </Node>
 <MeshOBJLoader name="InputMesh1" filename="mesh/cylinder_new.obj" scale="10" triangulate="1" />

    <Node name="InitTopology">
        <MeshTopology name="surface" src="@../InputMesh1" />
    	    <MeshTetraStuffing name="stuffing" snapPoints="true" splitTetras="false" draw="false" size="10" inputPoints="@surface.points" inputTriangles="@surface.triangles" />
    </Node>
       <Node name="SoftSphere" >
        <EulerImplicitSolver name="odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1"/><!--for increasing the damping use reylinghmass and stiffness as 0.1-->
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-10" threshold="1.0e-10" />
        <!--<TetrahedronSetTopologyContainer name="volume" points="@../InitTopology/stuffing.outputPoints" tetras="@../InitTopology/stuffing.outputTetras" />
		<TetrahedronSetTopologyModifier  name="Modifier" />
        <MechanicalObject />
        <UniformMass totalMass="100" name="mass" />
        <TetrahedronFEMForceField name="FEM" youngModulus="60" poissonRatio="0.1" method="large" />
	<!--<BoxROI name="box_roi" box="45 40 50  60 50 -40" drawBoxes="true" />
 		<!--<RestShapeSpringsForceField stiffness="1e10" points="@box_roi.indices" />-->
 		 <MeshOBJLoader name="meshLoader" filename="mesh/cylinder_new.obj" scale="8" createSubelements="true" />
        <TriangleSetTopologyContainer  name="Container" src="@meshLoader"/>
        <TriangleSetTopologyModifier   name="Modifier" />
        <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" />
        <MechanicalObject name="Mo" /><!--move the vertice by 12 in random direction from the rest position to increase the stiffness reduce it or set to zero-->
        
       <DiagonalMass massDensity="100000000.0" /><!-- set mass of each vertices-->
         
         <!--<FixedConstraint />

<!-- 		<PrecomputedConstraintCorrection recompute="1"/> -->
		<!--<UncoupledConstraintCorrection compliance="0.005"/>

         <!--<TriangularFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" /> -->
        <!--<TriangularBendingSprings name="FEM-Bend" stiffness="100" damping="1" />-->
         <TriangleCollisionModel name="collision"/>
        <TriangularFEMForceField name="FEM" youngModulus="1" poissonRatio="0.3" method="large" />
        
        <!--<TearingComponent name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />-->
        <FixedConstraint fixAll="true"  />
<UncoupledConstraintCorrection compliance="0.1"/>
 		<!--<PrecomputedConstraintCorrection recompute="1"/> 
		<!--<LinearSolverConstraintCorrection />-->
<!--reducing this value will increase the stiffness of the system-->

       <!-- <Node name="Surface">
          <TriangleSetTopologyContainer src="@../../InputMesh1" />
          <MechanicalObject dz="15" ry="90"/>
          <TriangleCollisionModel name="CMT" />
          </Node>-->
         <Node >
            <OglModel name="Visual" texcoords="@../InputMesh1.texcoords" texturename="textures/board.png" />
            <IdentityMapping input="@.." output="@Visual" />
        </Node>
         
    </Node> 

    <!--<Node name="Sphere" gravity="-10 0 0">
        <EulerImplicitSolver printLog="false" rayleighStiffness="0"/>
        <CGLinearSolver iterations="25" tolerance="1e-06" threshold="1e-06"/>
        <MechanicalObject  name="myParticle" position="0 0 0" showObject="1" showObjectScale="5.5" />
        <!-- <MechanicalObject template="Rigid3d" name="myParticle" position="-2 15 0   0 0 0 1   -3 10 0  0 0 0 1" showObject="1" showObjectScale="0.5" /> -->

       <!-- <UniformMass totalMass="1" />
        <ConstantForceField force="-1000 0 0 0 0 0" />
        <SphereCollisionModel name="Floor" radius="1" simulated="1" moving="1" contactStiffness="100" />
        <UncoupledConstraintCorrection compliance="1"/>
    </Node>-->
	
</Node>

hugtalbot May 7, 2023
Maintainer

thanks for sharing @divybaid
It seems that the cutting process leads to some pieces of the square holding only on one node to the rest of the square. Maybe @epernod could guide us here ..

Have you tried with a more detailed mesh for the square @divybaid ?

divybaid May 9, 2023
Author

yes i did try with more detailed mesh and this tangling problem is fixed, but i need another help as my scene is still not so stable even after cut is done, like the triangle which has encounter the cutting just moves very faster and have way too much high stress when working with haptic device. So is there a way to stable my scene so that after the cut no triangle moves violently?

rmolazem · 2024-02-20T10:55:43Z

rmolazem
Feb 20, 2024

Hi @divybaid,

I hope this message finds you well. I wanted to inform you that we have recently addressed some issues and made improvements to the tearing plugin. If you are still using this plugin, I recommend updating your local version to benefit from these enhancements. You can refer to the tearing plugin documentation for more information.

0 replies

@divybaid · 2024-04-22T06:11:52Z

github-actions[bot]
bot Apr 22, 2024

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@divybaid
Feedback has been given to you by the project reviewers, however we have not received a response from you. Without further news in the coming weeks, this discussion will be automatically closed in order to keep this forum clean and fresh 🌱 Thank you for your understanding

0 replies

@divybaid · 2024-07-01T06:14:28Z

github-actions[bot]
bot Jul 1, 2024

⚠️ ⚠️ ⚠️
@divybaid
In accordance with our forum management policy, the last reply is more than 4 months old and is therefore closed. Our objective is to keep the forum up to date and offer the best support experience.

Please feel free to reopen it if the topic is still active by providing us with an update. Please feel free to open a new thread at any time - we'll be happy to help where and when we can.

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Artefact in the simulation while tearing with haptic device #3824

divybaid Apr 25, 2023

Replies: 4 comments · 3 replies

hugtalbot Apr 25, 2023 Maintainer

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Apr 25, 2023
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divybaid Apr 25, 2023
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hugtalbot May 7, 2023
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rmolazem
Feb 20, 2024

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