Questions about the collision between rigid bodies and soft bodies

[985-211]

I'm sorry to bother you, but I have a question regarding the collision between rigid bodies and soft bodies. After they separate, why do parts of the soft body adhere to the rigid body? What parameters do I need to adjust to avoid this situation?

Here is my XML document. I want to know whether my parameters are not set correctly or if I am missing any components?

<Node name="root" dt="0.005" showBoundingTree="0" gravity="0 0 0">
    <!-- 插件 -->
    <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.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->  
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] --> 
    <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.IO.Mesh"/> <!-- Needed to use components [MeshGmshLoader] -->
    <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.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 [LCPConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [TriangularBendingSprings] -->
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/> <!-- Needed to use components [TrianglePressureForceField] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [UncoupledConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.Mapping.NonLinear"/> <!-- Needed to use components [RigidMapping] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.Component.Controller"/> <!-- Needed to use components [MechanicalStateController] -->
    <!-- 视觉 -->
    <VisualStyle displayFlags="showVisual" />
    <DefaultVisualManagerLoop />
    <!-- 动画 -->
    <FreeMotionAnimationLoop />

     <!-- 碰撞 -->
    <DefaultPipeline depth="15" verbose="0" draw="0" />
    <BruteForceBroadPhase />
    <BVHNarrowPhase/>
    <MinProximityIntersection name="Proximity" alarmDistance="0.0008" contactDistance="0.0002" />
    <DefaultContactManager response="PenalityContactForceField"/>

    <LCPConstraintSolver tolerance="0.001" maxIt="1000"/>

    <!-- 隐式方案与线性求解器 -->
    <EulerImplicitSolver name="EulerImplicit"  rayleighStiffness="0.1" rayleighMass="0.15" />
    <CGLinearSolver name="CG Solver" iterations="25" tolerance="1e-9" threshold="1e-9"/>

    <!-- 虹膜 -->
    <Node name="HongMo" >
        <!-- 加载虹膜的有限元网格 -->
        <MeshGmshLoader name="loader" filename="HongMo.msh" scale3d="1 1 1" translation="0 0 0" rotation="-90 0 0"/>
        <MechanicalObject src="@loader" name="Volume" template="Vec3d"  />

        <!-- 拓扑相关，四面体拓扑 -->
        <TetrahedronSetTopologyContainer  name="Tetra_topo" position="@Volume.position" src="@loader"/>
		<TetrahedronSetTopologyModifier   name="Modifier" />
        <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/>
        
        <!-- 添加质量 -->
        <UniformMass totalMass="0.01"/>
       
          
        <!-- 物理层 -->

        <!-- 四面体共旋有限元力场 -->
        <TetrahedralCorotationalFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.1"  method="large" />
        <!-- <TetrahedronFEMForceField name="FEM" youngModulus="10000" poissonRatio="0.1"  method="large" /> -->
        
        

        <!-- 约束修正 -->
		<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>

        <BoxROI name="box" box="-0.015  0.0013  -0.013   0.015    -0.022  0.013" drawBoxes="true" />
		<BoxROI name="box1" box="-0.015  0.0013  -0.013  -0.0052  0.0031  0.013 " drawBoxes="true" />   <!-- x右y上  左方框 -->
        <BoxROI name="box2" box="-0.015  0.0013  -0.013  0.015  0.0031  -0.0052 " drawBoxes="true" />    <!-- x右y上  后方框 -->
	    <BoxROI name="box3" box="0.015  0.0013  -0.013  0.0052  0.0031  0.013 " drawBoxes="true" />     <!-- x右y上  右方框 -->
        <BoxROI name="box4" box="-0.015  0.0013  0.013  0.015  0.0031  0.0052 " drawBoxes="true" />     <!-- x右y上  前方框 -->
	    <BoxROI name="box5" box="-0.0052  0.0029  0.0052  -0.0032  0.0031  0.0032 " drawBoxes="true" />   <!-- x右y上 前左小方框 -->
        <BoxROI name="box6" box="0.0052  0.0029  0.0052  0.0032  0.0031  0.0032 " drawBoxes="true" />   <!-- x右y上  前右边小方框 -->
        <BoxROI name="box7" box="-0.0052  0.0029  -0.0052  -0.0032  0.0031  -0.0032 " drawBoxes="true" />   <!-- x右y上 后左小方框 -->
        <BoxROI name="box8" box="0.0052  0.0029  -0.0052  0.0032  0.0031  -0.0032 " drawBoxes="true" />   <!-- x右y上 后右小方框 -->

        <!-- 定义固定约束，指定固定的顶点索引 -->
        <FixedConstraint name="FixedConstraint" indices="@box.indices" />
        <FixedConstraint name="FixedConstraint1" indices="@box1.indices" />
        <FixedConstraint name="FixedConstraint2" indices="@box2.indices" />
        <FixedConstraint name="FixedConstraint3" indices="@box3.indices" />
        <FixedConstraint name="FixedConstraint4" indices="@box4.indices" />
        <FixedConstraint name="FixedConstraint5" indices="@box5.indices" />
        <FixedConstraint name="FixedConstraint6" indices="@box6.indices" />
        <FixedConstraint name="FixedConstraint7" indices="@box7.indices" />
        <FixedConstraint name="FixedConstraint8" indices="@box8.indices" />

        <Node name="Surface">
            <!-- 拓扑相关，三角形拓扑 -->
            <TriangleSetTopologyContainer  name="Container"/>
            <TriangleSetTopologyModifier   name="Modifier" />
            <TriangleSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTriangles="0"/>

            <!-- 四面体到三角形拓扑映射 -->
            <Tetra2TriangleTopologicalMapping input="@../Tetra_topo" output="@Container"/>

            <!-- 三角形有限元力场 -->
            <TriangularFEMForceField name="FEM" youngModulus="2000" poissonRatio="0.1" method="large" />
            <!-- 三角形弯曲弹簧 -->
            <TriangularBendingSprings name="FEM-Bend" stiffness="2000" damping="40" />
          
            <!-- 碰撞模型 -->
            <TriangleCollisionModel name="triangleCol" bothSide="true"/>
            <LineCollisionModel name='edgeCol' />
            <PointCollisionModel name="pointCol" />

            <!-- 视觉模型及映射 -->
            <Node name="Visual">
                <!-- <MeshSTLLoader name="loader1" filename="HongMo.stl" scale3d="1 1 1" translation="0 0 0" rotation="-90 0 0"/>
                <MechanicalObject src="@loader1" name="Volume1"  />
                <TetrahedronSetTopologyContainer  name="Tetra_topo" position="@Volume1.position" src="@loader1"/>
		        <TetrahedronSetTopologyModifier   name="Modifier" />
                <TetrahedronSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" drawTetrahedra="0" drawScaleTetrahedra="0.8"/> -->
                <OglModel name="Visualmodel" color = "red" />
                <IdentityMapping input="@../../Volume" output="@Visualmodel" />
            </Node>
        </Node>

    </Node>

  
    <Node name="Tool_1">
        <MechanicalObject template="Rigid3d" name="DOFs" translation = "0  0.0035 0"/>
        <MechanicalStateController template="Rigid3d" listening="true" mainDirection="-1.0 0.0 0.0" handleEventTriggersUpdate="true"/>
    </Node>
  
    <Node name="Hand1" >
		<MechanicalObject name="instrumentState" template="Rigid3d" translation = "0 0.0035 0" />

		<UniformMass name="mass" totalMass="10" />

		<RestShapeSpringsForceField stiffness='1000' angularStiffness='100000000000' external_rest_shape='@../Tool_1/DOFs' points='0' external_points='0'/>

		<UncoupledConstraintCorrection useOdeSolverIntegrationFactors="0"/>

		<Node name="VisuTool01" >
            <MeshOBJLoader name="meshLoader_1" filename="NieZhi.obj" handleSeams="1" scale3d="1 1 1" rotation = "180 0 0"/>
            <OglModel name="InstrumentVisualModel" src="@meshLoader_1" color="red" />
            <RigidMapping name="MM->VM mapping" input="@instrumentState" output="@InstrumentVisualModel" />
        </Node>
		
        <Node name="CollisionModel" >
            <MeshOBJLoader filename="NieZhi.obj"  name="loader" scale3d="1 1 1" rotation = "180 0 0"/>
            <MeshTopology src="@loader" name="InstrumentCollisionModel" />
            <MechanicalObject src="@loader" name="instrumentCollisionState" />
            <TriangleCollisionModel name="triangleCol" bothSide="true" group = "2"/>
            <LineCollisionModel contactStiffness="100" group = "2"/>			
            <PointCollisionModel contactStiffness="100" group = "2"/>
            <RigidMapping name="MM->CM mapping" input="@instrumentState" output="@instrumentCollisionState" />		
        </Node>       
    </Node>
   
</Node>

[hugtalbot]

Hi @985-211

Without your mesh, it is not possible to reproduce the issue.
However, it may very probably come from an issue in the collision pipeline. You have a scene with all components required to compute constraint-based (based Lagrange multiplier) contact resolution. However, you set response="PenalityContactForceField" in your DefaultContactManager. I would recommend to use response="FrictionContactConstraint".

This post may also be good to read : #4173
Let me know if this helps.

[github-actions[bot]]

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@985-211
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

[github-actions[bot]]

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@985-211
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.

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