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    cranium-47
    @cranium-47
    This is just a guess but maybe the SphereCollisionModel is not included in NeedleContact.cpp
    FantasyVR
    @FantasyVR
    It's created in NeedleContact.cpp
    图片.png
    Hugo
    @hugtalbot
    I guess you also have the include of NeedleContact.inl above right ?
    and this new contact was properly compiled as well ?
    FantasyVR
    @FantasyVR
    Yes, I include NeedleContact.inl and compile it successfully.
    I publish a topic on the forum.
    Hugo
    @hugtalbot
    thanks !
    I will point it out to other devs
    FantasyVR
    @FantasyVR
    Thank you @hugtalbot
    FantasyVR
    @FantasyVR
    I think the problem is
    that the collision model type of the Creator is not commutative.
    图片.png
    After created another two contact classes, there isn't any error occurs. But the haptic force is computed wrongly and so big.
    I think this is related to the solution of LCPConstraintSolver which spit out msg_error()<< " WARNING dim should be dividable by 3 in nlcp_gaussseidel"; in Function nlcp_gaussseidel_unbuild.
    FantasyVR
    @FantasyVR
    图片.png
    I asked Christan and Adagolodjo about needle insertion. They all told me that they use tetrahedron as a collsion model.
    Hugo
    @hugtalbot
    it's actually Yinoussa, not Adagolodjo (Adagolodjo being his family name)
    are they??
    yes for the phase of collision-detection + penetration they use Triangle
    THEN once inside, they might use Tetrahedron to compute the location of the needle tip within the mesh
    for the first step we discussed previously (getting the collision with UnilateralInteractionConstraint updated as a SlidingConstraint when the force exceeds a threshold) you only need triangle
    have you asked to Youness about the error from LCP you are having?
    Are you collision models using the Vec3d template?
    I saw Yinoussa open source the needle sliding constraint

    I haven't ask him this question, I want to try his sliding constraint first

    have you asked to Youness about the error from LCP you are having?

    Are you collision models using the Vec3d template?

    Yes, I use Vec3d template

    Hugo
    @hugtalbot
    ok
    I notice a scene in /scenes/needleConstraintModule/testNeedleWithSlidingContraint.py
    maybe you could see what it does
    FantasyVR
    @FantasyVR
    yeah, after meeting I would try this.
    BYW, Anni and I got a .so of needle insertion from Hadrien.
    I would also try to use his demo and see what we can learn from it.
    Hugo
    @hugtalbot
    Did you get in touch with Hadrien about it?
    FantasyVR
    @FantasyVR
    I didn't contact him. It's Anni who found he could download the .so from Hadrien's website
    Hugo
    @hugtalbot
    Hi guys, for your information a scene showing needle insertion is available in the Cosserat plugin in plugin.Cosserat/python3/cosserat/needle/CosserateLikeNeedle.py
    (I am currently in paternity leave, so please excuse my latency)
    cranium-47
    @cranium-47
    Hi Hugo, thanks for letting us know. And congratulations! :)
    Hugo
    @hugtalbot
    thanks @cranium-47 ;)
    FantasyVR
    @FantasyVR
    Thank you very much, @hugtalbot .
    Hugo
    @hugtalbot
    you're welcome! I progressively get back to business do not hesitate to keep me updated regarding your progresses!
    and a very good place to meet in some months : https://www.sofa-framework.org/sofa-events/sofa-week-2021/
    see you soon guys
    cranium-47
    @cranium-47
    See you Hugo
    Hugo
    @hugtalbot
    hey !
    by the way, did you have the time to assess the scene showing needle insertion is available in the Cosserat plugin ?
    best @cranium-47 @FantasyVR
    cranium-47
    @cranium-47
    @hugtalbot hey! Yes we did, Thanks again for letting us know!
    Hugo
    @hugtalbot
    would you have some video to share with me so that I can see the result ?
    I can keep it private if you'd like
    cranium-47
    @cranium-47
    Yes, sure. I've sent you the video via email.
    Hugo
    @hugtalbot
    great thanmks @cranium-47