artisynth / artisynth_core Goto Github PK

Every once in a while, I get the following error:

face 89045:
44533  46.00132093  -1.21924727   0.89150075
44748  45.55579251  -1.31618806   0.43437934
44749  45.47207493  -1.59634294   0.99458548
  [ 44749 44533 ] >
     0  45.64094404  -1.47602118   0.96169373 4 E  
     2  45.64668165  -1.47193304   0.96057618 4 X  
     6  45.65567948  -1.46552196   0.95882361 4 X  
     4  45.66154353  -1.46134373   0.95768143 4 E  
  [ 44533 44748 ] >
  [ 44748 44749 ] >
maspack.util.InternalErrorException: Next contour boundary point 6 not entering face 89045 mesh0=false
	at maspack.collision.SurfaceMeshIntersector$FaceCalculator.addBoundaryArea(SurfaceMeshIntersector.java:3096)
	at maspack.collision.SurfaceMeshIntersector.findPenetrationRegion(SurfaceMeshIntersector.java:3548)
	at maspack.collision.SurfaceMeshIntersector.findPenetrationRegions(SurfaceMeshIntersector.java:4125)
	at maspack.collision.SurfaceMeshIntersector.findRegions(SurfaceMeshIntersector.java:772)
	at maspack.collision.SurfaceMeshIntersector.findContoursAndRegions(SurfaceMeshIntersector.java:742)
	at artisynth.core.mechmodels.CollisionManager.computeContactInfo(CollisionManager.java:2188)
	at artisynth.core.mechmodels.CollisionManager.checkForContact(CollisionManager.java:2233)
	at artisynth.core.mechmodels.CollisionManager.updateConstraints(CollisionManager.java:2630)
	at artisynth.core.mechmodels.CollisionManager.updateConstraints(CollisionManager.java:2579)
	at artisynth.core.mechmodels.MechSystemBase.updateConstraints(MechSystemBase.java:487)
	at artisynth.core.mechmodels.MechSystemSolver.applyPosCorrection(MechSystemSolver.java:2470)
	at artisynth.core.mechmodels.MechSystemSolver.constrainedBackwardEuler(MechSystemSolver.java:2836)
	at artisynth.core.mechmodels.MechSystemSolver.solve(MechSystemSolver.java:720)
	at artisynth.core.mechmodels.MechSystemBase.advance(MechSystemBase.java:1048)
	at artisynth.core.workspace.RootModel.advanceModel(RootModel.java:1707)
	at artisynth.core.workspace.RootModel.doadvance(RootModel.java:1745)
	at artisynth.core.workspace.RootModel.advance(RootModel.java:1557)
	at artisynth.models.rl.jaw.RlJawDemo.advance(RlJawDemo.java:126)
	at artisynth.core.driver.Scheduler$Player.doadvance(Scheduler.java:191)
	at artisynth.core.driver.Scheduler$Player.play(Scheduler.java:255)
	at artisynth.core.driver.Scheduler$Player.run(Scheduler.java:297)

Any ideas on how to avoid it?

I am attaching the report as a text, but the short message I receive when using zsh trying to run artisynth is below. I tried running with both current development version and with the lastest stable release provided on the website.
I am using java and javac version "1.8.0_261".

2020-07-17 00:19:26.773 java[5801:136441] Apple AWT Internal Exception: NSWindow drag regions should only be invalidated on the Main Thread!
2020-07-17 00:19:26.773 java[5801:136441] *** Terminating app due to uncaught exception 'NSInternalInconsistencyException', reason: 'NSWindow drag regions should only be invalidated on the Main Thread!'
*** First throw call stack:
(
0 CoreFoundation 0x00007fff316b4b57 __exceptionPreprocess + 250
1 libobjc.A.dylib 0x00007fff6a4fb5bf objc_exception_throw + 48
2 CoreFoundation 0x00007fff316dd34c -[NSException raise] + 9
3 AppKit 0x00007fff2e8d75ec -[NSWindow(NSWindow_Theme) _postWindowNeedsToResetDragMarginsUnlessPostingDisabled] + 310
4 AppKit 0x00007fff2e8bf052 -[NSWindow _initContent:styleMask:backing:defer:contentView:] + 1416
5 AppKit 0x00007fff2e8beac3 -[NSWindow initWithContentRect:styleMask:backing:defer:] + 42
6 libnativewindow_macosx.jnilib 0x000000012cfd73fe Java_jogamp_nativewindow_macosx_OSXUtil_CreateNSWindow0 + 398
7 ??? 0x000000010a0eb6c7 0x0 + 4463703751
)
libc++abi.dylib: terminating with uncaught exception of type NSException
./bin/artisynth: line 188: 5801 Abort trap: 6 java $JAVA_OPTS artisynth.core.driver.Launcher "${MAIN_OPTS[@]}"

Hi all,

I seem to have found a bug in the code for rendering contact
pressures. It seems that sometimes when using a fixed display range
with a lower bound > 0, I get an exception like this:

java.lang.NullPointerException
at
maspack.render.GL.GL3.ColorBufferPutter.putColor(ColorBufferPutter.java:16)
at
maspack.render.GL.GL3.GL3SharedRenderObjectVertices.fillVertexVBO(GL3SharedRenderObjectVertices.java:202)
at
maspack.render.GL.GL3.GL3SharedRenderObjectVertices.buildVertices(GL3SharedRenderObjectVertices.java:141)
at
maspack.render.GL.GL3.GL3SharedRenderObjectBase.maybeUpdateVertices(GL3SharedRenderObjectBase.java:172)
at
maspack.render.GL.GL3.GL3SharedRenderObjectPrimitives.maybeUpdate(GL3SharedRenderObjectPrimitives.java:63)
at
maspack.render.GL.GL3.GL3SharedRenderObjectPrimitives.generate(GL3SharedRenderObjectPrimitives.java:306)
at
maspack.render.GL.GL3.GL3SharedRenderObjectManager.getPrimitives(GL3SharedRenderObjectManager.java:39)
at
maspack.render.GL.GL3.GL3SharedResources.getPrimitives(GL3SharedResources.java:50)
at
maspack.render.GL.GL3.GL3RenderObjectManager.getPrimitives(GL3RenderObjectManager.java:107)
at
maspack.render.GL.GL3.GL3Viewer.drawTriangles(GL3Viewer.java:1924)
at maspack.render.GL.GLViewer.drawTriangles(GLViewer.java:4665)
at maspack.render.GL.GLViewer.drawTriangles(GLViewer.java:4660)
at
artisynth.core.mechmodels.CollisionRenderer.render(CollisionRenderer.java:537)
at
artisynth.core.mechmodels.CollisionHandler.render(CollisionHandler.java:1700)
at
artisynth.core.mechmodels.CollisionHandler.render(CollisionHandler.java:1690)
at maspack.render.RenderList.renderList(RenderList.java:419)

I was able to reproduce the problem in the demos. Run
artisynth.demos.tutorial.ContactPressureRender, open the navigation
panel, and navigate to

models > mech > collisionManager > behaviors > models#ball-models#sheet

Then right click, "Edit properties ...", and in the "interval"
property for the colrMapRange, set the lower bound to 1000.

thanks!

Looking at maspack.matrix.DualQuaternion.setScrewParameters(), Vector3d l and Vector3d m are parameters of this function but they are not used. Instead, the function uses the member variables ltmp and mtmp. Currently, all uses of setScrewParameters involve passing ltmp and mtmp as the corresponding arguments so no bugs are observed. Nevertheless, the function body should be changed, with l replacing ltmp and m replacing mtmp.

Let's say we want to use framemarkers to get the coordinates of certain landmarks on the Jaw model. The Add FrameMarkers tool works fine on "one side of the jaw", but fails on the other side of the same jaw. By failing I mean: the frameMarker will not sit on the surface of the target mesh, but will be hanging in the air.