Simulating Laser and Ultrasonic Ranging in SOFA Framework

[EricSanchezok]

I aim to simulate laser or ultrasonic ranging within the SOFA framework. My approach involves deploying eight 1D BeamModels on the headend of a beam, each oriented in a different direction, equipped with configured colliders. This setup is intended to measure distances from the beam head to surrounding blood vessels in eight distinct directions. However, I've faced several issues:

1. Collisions are detected only at the initial contact when the catheter enters a blood vessel, with no further collision detection as the 8 BeamModels traverse through the vessel.
2. The current method significantly drains computational resources.
3. I discovered the Ray and RayCollisionModel in SOFA's API documentation, but it appears these are not available in the version 23.06."
   
   

[EricSanchezok]

The collision model of each beammodel is as follows:

CollisionNode = ray.addChild('CollisionNode')
CollisionNode.addObject('MechanicalObject', name="collDofs", template="Vec3d", position="@../DOFs.position")
CollisionNode.addObject('LineCollisionModel', group='1', simulated="1", contactStiffness="1")
CollisionNode.addObject('AdaptiveBeamMapping', name="CollisMapCath", input="@../DOFs", output="@collDofs", useCurvAbs="1", printLog=False, isMechanical="false")

My collision pipeline is as follows:

    rootNode.addObject('DefaultPipeline', depth="6", verbose="0", draw="1")
    rootNode.addObject('BruteForceBroadPhase', name='N2')
    rootNode.addObject('BVHNarrowPhase')
    rootNode.addObject('LocalMinDistance', name="Proximity", alarmDistance='0.5', contactDistance='0.1', angleCone="0.01")
    rootNode.addObject('DefaultContactManager', response="FrictionContactConstraint", responseParams="mu=0.15")

[hugtalbot]

Hi @EricSanchezok

What I understand is that you are interested measuring distances from the beam head to surrounding blood vessels but not really in collision. You would only like to recover the detection pipeline. Is this correct?

I never implemented something like this. I will discuss with other devs to see what would be their advised way to go.
Cheers

[github-actions[bot]]

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@EricSanchezok
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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@EricSanchezok
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.