The collision between the obj object and the msh object

[CherryJGit]

I want to have a mah model and an obj model. The obj model can be moved with my mouse operations or key presses. When the obj model moves and collides with the msh model, it will produce corresponding reactions. I have consulted the course materials as shown in the picture. Due to some updates in the latest version of SOFA, this section of the SCN file cannot be used. For example, the DefaultContactManager has been affected. So I want to know where the files suitable for version 24.12 are located, because I have searched on GitHub but haven't found them.

[CherryJGit]

The collision scn file in the previous course has the following code:

<Node name="plugins">
    <RequiredPlugin name="Sofa.Component.SceneUtility"/>
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/>
    <RequiredPlugin name="Sofa.Component.LinearSolver.Iterative"/>
    <RequiredPlugin name="Sofa.Component.Mass"/>
    <RequiredPlugin name="Sofa.Component.MechanicalLoad"/>
    <RequiredPlugin name="Sofa.Component.StateContainer"/> 
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/>
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/>
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/>
    <RequiredPlugin name="Sofa.Component.Visual"/>
    <RequiredPlugin name="Sofa.GL.Component.Rendering3D"/>
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/>
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/>
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/>
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Algorithm"/>
    <RequiredPlugin name="Sofa.Component.Collision.Detection.Intersection"/> 
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> 
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> 
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/>
</Node>




<DefaultAnimationLoop computeBoundingBox="false"/>

<VisualStyle displayFlags="showCollisionModels hideVisualModels" />

<!--Collision pipeline:broad,narrow phase and response-->
<CollisionPipeline />
<BruteForceBroadPhase/>
<BVHNarrowPhase/>
<MinProximityIntersection name="Proximity" alarmDistance="0.5" contactDistance="0.25" />



<DefaultContactManager name="Response" response="PenalityContactForceField" />

<MeshGmshLoader name="meshLoaderCoarse" filename="mesh/Liver2.msh" />
<MeshOBJLoader name="meshLoaderFine" filename="mesh/liver-smooth.obj"/>

<Node name="Liver">
    <EulerImplicitSolver />
    <CGLinearSolver iterations="200" tolerance="1e-09" threshold="1e-09"/>
    <TetrahedronSetTopologyContainer  name="topo" src="@../meshLoaderCoarse" />
    <TetrahedronSetGeometryAlgorithms template="Vec3d" name="GeomAlgo"/>
    <MechanicalObject template="Vec3d" name="MechanicalModel" showObject="1"/>
    <TetrahedronFEMForceField name="FEM" youngModulus="1000" poissonRatio="0.4" method="large" />
    <MeshMatrixMass massDensity="1" topology="@topo"/>
    <ConstantForceField totalForce="100 0 0" />
    <FixedProjectiveConstraint indices="1 3 50" />
    <Node name="Visual" >
        <OglModel name="VisualModel" src="@../../meshLoaderFine" />
        <BarycentricMapping name="VisualMapping" input="@../MechanicalModel" output="@VisualModel" />
    </Node>

    <Node name="Collision">
        <MeshTopology src="@../../meshLoaderFine"/>
        <MechanicalObject name="CollisionMO" scale="1.0"/>
        <TriangleCollisionModel name="CollisionModel" contactStiffness="3"/>
        <BarycentricMapping name="CollisionMapping" input="@../MechanicalModel" output="@CollisionMO" />
    </Node>
</Node>

<Node name="Sphere">
    <EulerImplicitSolver rayleighStiffness="0"/>
    <CGLinearSolver iterations="200" tolerance="1e-06" threshold="1e-06"/>
    <MechanicalObject template="Rigid3d" name="myParticle" position="-2 10 0    0 0 0 1" showObject="1" showObjectScale="0.5" />
    <UniformMass totalMass="1" />
    <ConstantForceField force="0 -1 0 0 0 0" />
    <SphereCollisionModel name="Floor" radius="1" simulated="1" moving="1" contactStiffness="100" />
</Node>

[hugtalbot]

Hi @CherryJGit

Indeed SOFA is evolving from a release to another. We always advise to update your code along with your SOFA version when a new release is out. Looking at the console output with SOFA v24.12, many information is provided:

[ERROR]   [InfoComponent(Not created (DefaultContactManager))] Object type DefaultContactManager<> was not created  
The component 'DefaultContactManager' cannot be found in the factory.  
Several reasons are possible:  
1) This component has been MOVED from SofaBaseCollision to Sofa.Component.Collision.Response.Contact since SOFA v22.06.
To continue using this component you may need to update your scene by adding
<RequiredPlugin name='Sofa.Component.Collision.Response.Contact'/>  
2) This alias for the component CollisionResponse was removed in SOFA v24.12.  

[ERROR]   [FileRepository] File mesh/Liver2.msh NOT FOUND in :/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa/examples:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa/examples
[ERROR]   [MeshGmshLoader(meshLoaderCoarse)] File: 'mesh/Liver2.msh' not found. 
[ERROR]   [ConstantForceField(unnamed)] Attribute 'force' has been removed since SOFA v24.06. Replace "force" by using the "forces" data (providing only one force value) (PR #4019)}
[ERROR]   [SceneLoaderXML] Node initialization failed. 

[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckCollisionResponse, SceneCheckDeprecatedComponents, SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias, SceneCheckMultithreading]
[SUGGESTION] [SceneCheckMultithreading] This scene is using components implemented sequentially while a parallel implementation is available. Using the parallel implementation may improve the performances. Here is the list of sequential components in your scene and their parallel equivalent:   
	BVHNarrowPhase -> ParallelBVHNarrowPhase  
	BruteForceBroadPhase -> ParallelBruteForceBroadPhase  
	TetrahedronFEMForceField[Vec3d] -> ParallelTetrahedronFEMForceField[Vec3d]  

[INFO]    [SceneCheckerVisitor] Finished validating node "root".
[WARNING] [CollisionPipeline(CollisionPipeline1)] A ContactManager component is required to compute collision response and was not found in the current scene
[ERROR]   [FileRepository] File mesh/Liver2.msh NOT FOUND in :/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa/examples:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa:/data/Softwares/SOFA_Releases/SOFA_v24.12.00_Linux-Python_3.12/share/sofa/examples
[ERROR]   [MeshGmshLoader(meshLoaderCoarse)] File: 'mesh/Liver2.msh' not found. 
[ERROR]   [MeshGmshLoader(meshLoaderCoarse)] Can't load file mesh/Liver2.msh
[ERROR]   [TetrahedronFEMForceField(FEM)]  object must have a tetrahedric topology. The component is inactivated.  To remove this error message please add a tetrahedric topology component to your scene.
[ERROR]   [MeshMatrixMass(MeshMatrixMass1)] Topology empty.
[WARNING] [FixedProjectiveConstraint(FixedProjectiveConstraint1)] Index 1 not valid, should be [0,1]. Constraint will be removed.
[WARNING] [FixedProjectiveConstraint(FixedProjectiveConstraint1)] Index 3 not valid, should be [0,1]. Constraint will be removed.
[WARNING] [FixedProjectiveConstraint(FixedProjectiveConstraint1)] Index 50 not valid, should be [0,1]. Constraint will be removed.
[ERROR]   [ConstantForceField(ConstantForceField1)] No input force has been set. Please define one of both Data: forces or totalForce
[ERROR]   [ConstantForceField(ConstantForceField1)] Size of input vector indices is zero
[ERROR]   [ConstantForceField(ConstantForceField1)] Impossible to compute force from totalForce since vector indices size is zero
[ERROR]   [ConstantForceField(ConstantForceField1)] Impossible to compute force from totalForce since vector indices size is zero
[ERROR]   [ConstantForceField(ConstantForceField1)] Impossible to compute force from totalForce since vector indices size is zero

Some first hints:

• DefaultContactManager ➡️ CollisionResponse
• In ConstantForceField the two available data fields are now forces (force vector for each node) and totalForce

[github-actions[bot]]

⚠️ ⚠️ ⚠️
@CherryJGit
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]]

⚠️ ⚠️ ⚠️
@CherryJGit
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.