ENH: Adds port hole interaction and body on body contact
Adds PortHoleInteraction meant to be a way to easily apply fixed trocar port hole constraints, compliance can be altered if you need a bit of "give" to them. See RbdLapToolCollision example.
- Adds PortHoleInteraction
auto portHoleInteraction = std::make_shared<PortHoleInteraction>(lapTool1);
portHoleInteraction->setPortHoleLocation(Vec3d(0.015, 0.092, -1.117));
portHoleInteraction->setToolGeometry(lapTool1->getCollidingGeometry());
portHoleInteraction->setCompliance(0.00001);
scene->addInteraction(portHoleInteraction);
- Adds Body on Body Contact in PbdCollisionHandling
- Adds BodyLineToPointConstraint for PortHoleInteraction.
- Adds preprocessor statement which gives one example that uses two haptic devices.
- Adds a fix for PbdBodyToBodyDistanceConstraint that allows it to work deformable-rigid as well as the existing rigid-rigid
- Existing RbdLapToolExample now uses pbd rigids not second order rigids.
Edited by Andrew Wilson