AdvancedCarvingManager is incompatible with the LineCollisionModel

[RickYang1]

I tried to use AdvancedCarvingManager in Unity, but when performing carving, the following error occurred:

Here is my scene file：

<Node name="root" dt="0.02" showBoundingTree="0" gravity="0 -9.8 0">
    <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 [MinProximityIntersection] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [PointCollisionModel, SphereCollisionModel, TriangleCollisionModel] -->  
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
    <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.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->  
    <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.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [UniformMass] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [TetrahedronSetGeometryAlgorithms,TetrahedronSetTopologyContainer,TetrahedronSetTopologyModifier,TriangleSetGeometryAlgorithms,TriangleSetTopologyContainer,TriangleSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Tetra2TriangleTopologicalMapping] -->
    <RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [GenericConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [PlaneForceField,TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField,TriangularFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
    <RequiredPlugin name="Sofa.Component.SceneUtility"/> <!-- Needed to use components [InfoComponent] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="SofaCarving"/> <!-- Needed to use components [CarvingManager] -->
    <RequiredPlugin name="Sofa.Component.Topology.Utility"/> <!-- Needed to use components [TopologicalChangeProcessor] -->  
    <RequiredPlugin name="MeshRefinement"/>
    <RequiredPlugin name="InfinyToolkit" />

    <VisualStyle displayFlags="showVisual showCollisionModels" />   
    <DefaultVisualManagerLoop />
    <DefaultAnimationLoop/>
    <CollisionPipeline depth="15" verbose="0" draw="0" />
    <BruteForceBroadPhase name="N2" />
    <BVHNarrowPhase name="narrowPhase"/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.001" contactDistance="0.0001" /> 
    <CollisionResponse response="PenalityContactForceField"/> 
    <AdvancedCarvingManager name="ACarving" active="1" refineDistance="0.0002" refineCriteria="0.5" carvingDistance="0.0001" 
                    carvingWithBurning="0" carvingWithRefinement="0" drawContacts="0"/>
    <Node name="JZT">
        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
        <CGLinearSolver name="CG Solver" iterations="50" tolerance="1e-20" threshold="1e-20"/>
        <MeshGmshLoader filename="mesh\JZT.msh"  name="loader" scale3d="1 1 1"/>
        <MechanicalObject src="@loader" name="JZT" rotation="-90 0 0" translation ="0 0 0"/>
        <TetrahedronSetTopologyContainer  name="Tetra_topo" position="@JingZhuangTi.position" src="@loader"/>
		<TetrahedronSetTopologyModifier   name="Modifier" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" />
        <DiagonalMass massDensity="0.001" />
        <RestShapeSpringsForceField name="RestShapeSpringsForceField" stiffness='10000000' angularStiffness='10000000'/>
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="1000000000000" poissonRatio="0.48" method="large" />
        <TetrahedronCuttingController name="ACutting" listening="1" printLog="0" methodToTest="1" 
            cutPointA="3.1 6 -2" cutPointB="3.1 6 2" cutDir="0 1 0" cutDepth="2" drawDebugCut="0" />  
        <Node name="Surface">
            <TriangleSetTopologyContainer  name="Container"/>
            <TriangleSetTopologyModifier   name="Modifier" />
            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>
            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container" />
            <TriangularFEMForceField name="FEM" youngModulus="700000000" poissonRatio="0.48" method="large" />
            <TriangularBendingSprings name="FEM-Bend" stiffness="800000000" damping="90500.0" />
            <!-- <TrianglePressureForceField normal="0 1 0" dmin="-0.1" dmax="0.1" pressure="0 100 0" /> -->
            <TriangleCollisionModel contactStiffness="300" bothSide="true" contactRestitution="0" tags="CarvingSurface" />
            <LineCollisionModel contactStiffness="3000" bothSide="true" contactRestitution="0" tags="CarvingSurface" />
            <PointCollisionModel contactStiffness="300" bothSide="true" contactRestitution="0" tags="CarvingSurface" />
            <Node name="Visua1">
                <OglModel name="JZTVis" color = "red"/>
                <IdentityMapping input="@../../JZT" output="@JZTVis" />
            </Node>
        </Node>
    </Node>  

    <Node name="Tool_J">
        <MechanicalObject template="Rigid3d" name="DOFs" translation = "0 0.01 0"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
    </Node>
    <Node name="J" >
        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
        <CGLinearSolver name="CG Solver2" iterations="25" tolerance="1e-9" threshold="1e-15"/>
		<MechanicalObject name="instrumentState2" template="Rigid3d" translation = "0 0.01 0" />
		<UniformMass  totalMass="0.01" />
		<RestShapeSpringsForceField stiffness='1000000000' angularStiffness='10000000000' external_rest_shape='@../Tool_J/DOFs' points='0' external_points='0'/>
		<Node name="VisuTool01" >
            <MeshOBJLoader name="meshLoader_1" filename="./mesh/1214.obj" handleSeams="1" scale3d="0.002 0.002 0.002" rotation = "0 0 0"/>
            <OglModel name="InstrumentVisualModel2" src="@meshLoader_1" color="red" />
            <RigidMapping name="MM->VM mapping" input="@instrumentState2" output="@InstrumentVisualModel2" />
        </Node> 
        <Node name="CollisionModel" >
            <MeshOBJLoader filename="./mesh/1214.obj"  name="loader" scale3d="0.002 0.002 0.002" rotation = "0 0 0"/>
            <MeshTopology src="@loader" name="InstrumentCollisionModel2" />
            <MechanicalObject src="@loader" name="instrumentCollisionState2" />
            <TriangleCollisionModel   contactStiffness="2" />
            <LineCollisionModel  contactStiffness="2" />			
            <PointCollisionModel  contactStiffness="2" />
            <RigidMapping name="MM->CM mapping" input="@instrumentState2" output="@instrumentCollisionState2"/>		
        </Node>       
    </Node>

    <Node name="Tool_CarvingHead">
        <MechanicalObject template="Rigid3d" name="DOFs" translation = "0 0.004 0"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
    </Node>
    <Node name="CarvingHead" >
        <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
        <CGLinearSolver name="CG Solver2" iterations="25" tolerance="1e-9" threshold="1e-15"/>
        <MeshOBJLoader filename="./mesh/CSRHTobj.obj"  name="loader" scale3d="1 1 1" rotation = "0 0 0"/>
		<MechanicalObject name="instrumentState2" template="Rigid3d" translation = "0 0.004 0" />
		<UniformMass  totalMass="0.01" />
		<RestShapeSpringsForceField stiffness='1000000000' angularStiffness='10000000000' external_rest_shape='@../Tool_CarvingHead/DOFs' points='0' external_points='0'/>
		<Node name="VisuTool01" >
            <OglModel name="InstrumentVisualModel2" src="@../loader" color="red" />
            <RigidMapping name="MM->VM mapping" input="@instrumentState2" output="@InstrumentVisualModel2" />
        </Node> 
        <Node name="CollisionModel" >
            <MeshTopology src="@../loader" name="Instrument2" />
            <MechanicalObject src="@../loader" name="instrumentCollisionState2" />
            <TriangleCollisionModel   group="1" contactStiffness="200" />
            <LineCollisionModel  group="1" contactStiffness="100" />			
            <PointCollisionModel group="1" contactStiffness="200" />
            <RigidMapping name="MM->CM mapping" input="@instrumentState2" output="@instrumentCollisionState2" />		
        </Node>       
    </Node>
    <Node name="carvingElement" >
        <MechanicalObject name="Particles" template="Vec3d" position="@CarvingHead/instrumentState2.position" />
        <SphereCollisionModel name="tool" group="1" radius="0.0003" contactStiffness="200" tags="CarvingTool"/>
    </Node>
</Node>      

It is necessary to use LineCollisionModel in my simulation, how can I avoid this issue？
Thanks in advance！

[epernod]

Hi @RickYang1
Thank you for the report. I need to check if the error is coming from the SOFA simulation scene or the Unity integration.
In your case, as you already have TriangleCollisionModel and PointCollisionModel I think you can try to remove the LineCollisionModel.

If your target model has a smooth surface you should not have any problem because the only collision case which will be not handle is the Edge <-> Edge.
So if means you touch an edge of your targeted model (not the surface but a sharp edge) in between 2 points of your tool.

[RickYang1]

Hi  你好@RickYang1 Thank you for the report. I need to check if the error is coming from the SOFA simulation scene or the Unity integration.谢谢您的报告。我需要检查错误是否来自SOFA模拟场景或Unity集成。 In your case, as you already have TriangleCollisionModel and PointCollisionModel I think you can try to remove the LineCollisionModel.就您而言，由于您已经拥有TriangleCollisionModel和PointCollisionModel我认为您可以尝试删除LineCollisionModel 。

If your target model has a smooth surface you should not have any problem because the only collision case which will be not handle is the Edge <-> Edge.如果您的目标模型具有光滑的表面，则应该不会有任何问题，因为唯一无法处理的碰撞情况是“边缘”<->“边缘”。 So if means you touch an edge of your targeted model (not the surface but a sharp edge) in between 2 points of your tool.因此，如果意味着您在工具的两个点之间触摸了目标模型的边缘（不是表面，而是锋利的边缘）。

Hello,
Thank you for your reply. After carving，my model will have sharp edges, so perhaps I need to use a LineCollisionModel.I am not sure if the LineCollisionModel is enabled when this error occurs.

[epernod]

Hi,
normally no because edges from triangles are already tested in the the Point - Triangle iintersections.
Did you encounter some case where you think some collisions are missed?

Best regards

[RickYang1]

Hello,
Thank you for your reply, I understand what you mean. Perhaps the penetration in my simulation is due to improper collision parameter settings.
Thanks