Why does InstrumentCombined directly penetrate the skin?I encountered a problem when combining 3instruments_collis and QuadBendingFEMForceField. #5661

L-ZeYun · 2025-08-22T10:44:00Z

L-ZeYun
Aug 22, 2025

I combined the two examples, 3instruments_collis and QuadBendingFEMForceField, hoping to realize the simulation of a catheter moving in a flexible blood vessel. I used the skin from QuadBendingFEMForceField as the blood vessel, and it is obvious that the skin is flexible. However, the catheter directly penetrates the skin, as shown in the figure below. Why is this? Is it because the collision is not working? Or is there another reason?

Any guidance would be appreciated!

Thanks

My code is here:

<Node name="root" gravity="-1 0 0" dt="0.02">
    

    <RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [MultiAdaptiveBeamMapping WireBeamInterpolation WireRestShape] -->
    <RequiredPlugin name="Sofa.Component.AnimationLoop"/> <!-- Needed to use components [FreeMotionAnimationLoop] -->
    <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 [LocalMinDistance] -->
    <RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [LineCollisionModel PointCollisionModel TriangleCollisionModel] -->
    <RequiredPlugin name="Sofa.Component.Collision.Response.Contact"/> <!-- Needed to use components [DefaultContactManager] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Correction"/> <!-- Needed to use components [LinearSolverConstraintCorrection] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Lagrangian.Solver"/> <!-- Needed to use components [LCPConstraintSolver] -->
    <RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
    <RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshOBJLoader] -->
    <RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mapping.Linear"/> <!-- Needed to use components [IdentityMapping] -->
    <RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
    <RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Dynamic"/> <!-- Needed to use components [EdgeSetGeometryAlgorithms EdgeSetTopologyContainer EdgeSetTopologyModifier QuadSetGeometryAlgorithms QuadSetTopologyContainer QuadSetTopologyModifier] -->
    <RequiredPlugin name="Sofa.Component.Topology.Container.Grid"/> <!-- Needed to use components [RegularGridTopology] -->
    <RequiredPlugin name="Sofa.Component.Topology.Mapping"/> <!-- Needed to use components [Edge2QuadTopologicalMapping] -->
    <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.LinearSolver.Iterative"/> <!-- Needed to use components [CGLinearSolver] -->
    <RequiredPlugin name="Sofa.Component.Mass"/> <!-- Needed to use components [DiagonalMass] -->
    <RequiredPlugin name="Sofa.Component.SolidMechanics.FEM.Elastic"/> <!-- Needed to use components [TetrahedralCorotationalFEMForceField] -->
    <RequiredPlugin name="Sofa.Component.Constraint"/>

    <VisualStyle displayFlags="showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields" />
 	<DefaultVisualManagerLoop/>

 	<FreeMotionAnimationLoop />
	<LCPConstraintSolver mu="0.1" tolerance="1e-4" maxIt="500" build_lcp="false" />
	
	<CollisionPipeline depth="6" verbose="1" draw="0"/>
	<BruteForceBroadPhase/>
	<BVHNarrowPhase/>
	<LocalMinDistance name="localmindistance" alarmDistance="2" contactDistance="1" angleCone="0.5" coneFactor="0.5" />
	<CollisionResponse name="Response" response="FrictionContactConstraint" />



    <Node name="skin" gravity="0 0 -9.8">
        <EulerImplicitSolver name="cg_odesolver" />
        <CGLinearSolver iterations="25" name="linear solver" tolerance="1.0e-9" threshold="1.0e-9" />
        <MeshVTKLoader filename="mesh/test_quad.vtk" name="loader" />
        <MechanicalObject template="Vec3" src="@loader" name="DOFs" scale="0.1"/>
        <QuadSetTopologyContainer src="@loader" name="topology" />
        <QuadSetTopologyModifier name="Modifier" />
        <QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3" />
        <DiagonalMass massDensity="0.5" name="mass" />

        <QuadBendingFEMForceField name="FEM" youngModulus="2000" poissonRatio="0.49" thickness="0.5" method="small" />


        <UncoupledConstraintCorrection/>

        <FixedProjectiveConstraint indices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58" />

        <Node name="Visual">
            <OglModel name="Visual" scale="0.1" color="yellow" />
            <IdentityMapping template="Vec3,Vec3" name="visualMapping" input="@../DOFs" output="@Visual" />
        </Node>
    </Node>


    
	<Node name="topoLines_cath">
		
        <RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="10" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
        <RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="10" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>        
        
        <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone -->		
    
		<EdgeSetTopologyContainer name="meshLinesCath" />
		<EdgeSetTopologyModifier   name="Modifier" />
		<EdgeSetGeometryAlgorithms name="GeomAlgo"   template="Rigid3d" />
		<MechanicalObject template="Rigid3d" name="dofTopo1" />
	</Node>
	<Node name="topoLines_guide">
        <RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
        <RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>        
		
        <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>
    
		<EdgeSetTopologyContainer name="meshLinesGuide" />
		<EdgeSetTopologyModifier   name="Modifier" />
		<EdgeSetGeometryAlgorithms name="GeomAlgo"   template="Rigid3d" />
		<MechanicalObject template="Rigid3d" name="dofTopo2" />
	</Node>
	<Node name="topoLines_coils">
        <RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
        <RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>        
		
        <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>
        
		<EdgeSetTopologyContainer name="meshLinesCoils" />
		<EdgeSetTopologyModifier   name="Modifier" />
		<EdgeSetGeometryAlgorithms name="GeomAlgo"   template="Rigid3d" />
		<MechanicalObject template="Rigid3d" name="dofTopo3" />
	</Node>
	

	<Node name="InstrumentCombined">
		<EulerImplicitSolver rayleighStiffness="0.2" rayleighMass="0.1" printLog="false" />
		<BTDLinearSolver subpartSolve="0" verification="0" verbose="0"/>
		<RegularGridTopology name="meshLinesCombined"
            nx="180" ny="1" nz="1"
            xmin="0.0" xmax="1.0"
            ymin="0" ymax="0"
            zmin="1" zmax="1"
		/>
		<MechanicalObject template="Rigid3d" name="DOFs" showIndices="0" ry="-90"/> 

		<WireBeamInterpolation name="InterpolCatheter" WireRestShape="@../topoLines_cath/catheterRestShape"/> 
		<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" /> 

		<WireBeamInterpolation name="InterpolGuide" WireRestShape="@../topoLines_guide/GuideRestShape"/> 
		<AdaptiveBeamForceFieldAndMass name="GuideForceField" interpolation="@InterpolGuide"/> 	

		<WireBeamInterpolation name="InterpolCoils" WireRestShape="@../topoLines_coils/CoilRestShape"/> 
		<AdaptiveBeamForceFieldAndMass name="CoilsForceField" interpolation="@InterpolCoils"/> 	

        <BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="1"
            timeSteps="4.3 7.5 7.65 7.85 8.05 8.25 8.45 8.7 8.9 9.2 9.4 9.6 9.8 10 10.25 10.4 10.65 10.85 11.05 11.25 11.45 11.7 11.95 12.2 12.4 12.6 12.8 13 13.2 13.4 13.6 13.85 14.05 14.35 14.55 14.75 14.95 15.15 15.35 15.5 15.7 15.85 16.1 16.25 16.4 16.55 16.7 16.85 17 17.2 17.35 17.55 17.7 17.85 17.95 18.1 18.25 18.35 18.5 18.65 18.85 19 19.2 19.35 19.45 19.6 19.75 19.95 20.1 20.25 20.4 20.55 20.7 20.85 21.35 22.35 23.05 23.65 25 25.1 25.2 25.35 25.5 25.65 25.8 29 30.5 31.9 33.85 33.95 34.1 34.2 34.3 34.45 34.55 34.65 34.8 34.95 35.05 35.15 35.3 35.4 35.5 35.6 35.7 35.8 35.95 36.1 36.2 36.3 36.45 36.5 36.65 36.75 36.9 37 37.1 37.2 37.3 37.45 37.55 37.65 37.75 37.85 38 38.1 38.2 38.3 38.45 38.55 38.65 38.8 38.9 39.05 39.15 39.3 39.4 39.55 39.65 39.7 39.85 39.9 40.1 40.2 40.3 40.4 40.55 40.65 40.8 40.9 41.05 41.15 41.3 41.4 41.6 41.7 41.8 41.95 42 42.1 42.2 42.35 42.45 42.6 42.65 42.8 42.95 43.05 43.2 43.3 43.45 43.55 43.65 43.8 43.9 44 44.15 44.25 44.4 44.55 45.5 47.35 47.45 47.55 47.65 47.7 47.8 47.9 48 50.4 52.35 52.45 52.55 52.65 52.75 52.9 53 53.1 53.2 53.3 53.4 54.35 56.05 56.15 56.2 56.3 56.4 56.5 56.6 56.65 56.7 57.95 58.6 59.45 59.55 59.6 59.7 59.8 59.9 59.95 60.05 60.1 60.15 60.25 60.3 60.4 60.5 60.6 60.65 60.75 60.85 60.95 61 61.1 61.15 61.2 61.3 61.4 61.5 61.65 61.75 61.85 62 62.15 62.25 62.35 62.45 62.55 62.65 62.75 62.85 62.9 63 63.05 63.15 63.2 63.25 63.35 63.4 63.5 63.6 63.7 63.75 63.85 63.95 64.05 64.2 64.3 64.35 64.45 64.55 64.6 64.7 64.8 64.9 65 65.1 65.2 65.3 65.45 65.55 65.65 65.75 65.8 65.9 72.15 73.6 73.7 73.8 73.85 73.95 74 74.1 74.25 74.35 74.45 74.55 75.4 76.1 76.7 77.65 79.85 82 82.85 84.25 84.35 84.45 84.55 84.65 84.75 84.8 84.9 84.95 85.1 85.2 85.3 85.4 85.5 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.4 86.45 86.55 86.65 86.75 86.8 86.9 87 87.15 87.25 87.3 87.4 87.5 87.6 87.7 87.75 87.85 87.95 88 88.1 88.25 88.35 88.45 88.55 88.65 88.75 88.85 88.95 89.05 89.15 89.25 89.35 89.5 89.6 89.75 89.85 89.95 90.05 90.15 90.75 92.4 92.5 92.6 92.7 94.45 97.25 98.1 99.3 99.4 99.5 99.55 99.65 99.7 99.8 99.85 99.95 100.05 100.15 100.2 100.3 100.35 100.45 100.5 100.55 100.65 100.7 100.8 100.85 100.95 101.05 101.15 101.2 101.25 101.35 101.4 101.5 101.55 101.65 101.7 101.75 101.85 101.9 102 102.05 102.15 102.2 102.3 102.35 102.45 102.5 102.6 102.65 102.7 102.8 102.85 102.95 103.05 103.1 103.2 103.25 103.35 103.4 103.5 103.55 103.65 103.7 103.75 103.85 103.95 104.05 104.1 104.2 104.25 104.3 104.4 104.45 104.55 104.6 104.7 104.75 104.85 104.95 105 105.1 105.15 105.25 105.3 105.4 105.45 105.55 105.6 105.65 105.75 105.85 105.95 106 106.05 106.15 106.2 106.3 106.35 106.45 106.5 106.6 106.65 106.75 106.85 106.9 107 107.05 107.15 107.2 107.3 107.35 107.45 107.5 107.6 107.7 107.75 107.85 107.9 107.95 108.05 108.1 108.2 108.25 108.3 108.4 108.45 108.55 108.65 108.7 108.8 108.85 108.95 109 109.1 109.15 109.25 109.3 109.35 109.45 109.55 109.65 109.7 109.8 109.85 109.9 110 110.05 110.15 110.2 110.3 110.35 110.45 110.55 110.6 110.7 110.75 110.8 110.9 110.95 111.05 111.1 111.2 111.25 111.35 111.45 111.5 111.6 111.65 111.75 111.8 111.9 111.95 112.05 112.1 112.2 112.25 112.35 112.4 112.5 112.55 112.65 112.7 112.75 112.85 112.9 113 113.1 113.15 113.2 113.3 113.4 113.45 113.55 113.6 113.65 113.75 113.8 113.9 113.95 114 114.1 114.2 114.25 114.35 114.4 114.5 114.6 114.65 114.75 114.85 114.9 114.95 115.05 115.1 115.2 115.3 115.35 115.4 115.5 115.6 115.65 115.75 115.8 115.9 116 116.05 116.1 116.2 116.3 116.4 116.5 116.55 116.6 116.7 116.8 116.85 116.95 117.05 117.1 117.15 117.25 117.35 117.45 117.5 117.6 117.65 117.75 117.85 117.9 117.95 118.05 118.15 118.25 118.35 118.4 118.5 122.65"
            actions="1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 9 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 4 4 4 4 4 4 4 4 4 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 8 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 9 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 10 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1"
        />
		<InterventionalRadiologyController template="Rigid3d" name="IRController" printLog="0" xtip="1 0 0"  step="3" rotationInstrument="0 0 0" 
							controlledInstrument="0" startingPos="0 0 0 0 -0.7071068 0 0.7071068" speed="2" instruments="InterpolCatheter InterpolGuide InterpolCoils" />

		<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>

		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
        <RestShapeSpringsForceField  points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8"   />

		<Node name="Collis" activated="true">
				<EdgeSetTopologyContainer name="collisEdgeSet" />
				<EdgeSetTopologyModifier   name="colliseEdgeModifier" />
				<MechanicalObject name="CollisionDOFs"/>
				<MultiAdaptiveBeamMapping  name="collisMap"  controller="../IRController" useCurvAbs="1" printLog="0"/> 
				<LineCollisionModel proximity="0.0" group="1"/>
				<PointCollisionModel proximity="0.0" group="1"/>
		</Node>	

		<Node name="VisuCatheter" activated="true">
			<OglModel name="Visual" color="0.7 0.7 0.7"  quads="@../ContainerCath.quads" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20"/>
			<QuadSetTopologyContainer  name="ContainerCath" />
			<QuadSetTopologyModifier   name="Modifier" />
			<QuadSetGeometryAlgorithms name="GeomAlgo"  template="Vec3d" />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="2" input="@../../topoLines_cath/meshLinesCath" output="@ContainerCath" flipNormals="true"/>

			<AdaptiveBeamMapping  name="VisuMapCath" useCurvAbs="1" printLog="0" interpolation="@../InterpolCatheter" input="@../DOFs" output="@Visual"  />
		</Node>
	
		<Node name="VisuGuide" activated="true">
			<OglModel name="Visual" color="0.2 0.2 0.8"  material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerGuide.quads"/>
			<QuadSetTopologyContainer  name="ContainerGuide" />
			<QuadSetTopologyModifier   name="Modifier" />
			<QuadSetGeometryAlgorithms name="GeomAlgo"  template="Vec3d" />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="1" input="@../../topoLines_guide/meshLinesGuide" output="@ContainerGuide"  flipNormals="true" listening="true"/> 
			<AdaptiveBeamMapping  name="visuMapGuide" useCurvAbs="1" printLog="0" interpolation="@../InterpolGuide" input="@../DOFs" output="@Visual" />
		</Node> 
	   
		<Node name="VisuCoils" activated="true">
			<OglModel name="Visual" color="0.2 0.8 0.2"  material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerCoils.quads"/>
			<QuadSetTopologyContainer  name="ContainerCoils" />
			<QuadSetTopologyModifier   name="Modifier" />
			<QuadSetGeometryAlgorithms name="GeomAlgo"  template="Vec3d" />
			<Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.3"  input="@../../topoLines_coils/meshLinesCoils" output="@ContainerCoils"  flipNormals="true" listening="true" /> 
			<AdaptiveBeamMapping  name="visuMapCoils" useCurvAbs="1" printLog="0" interpolation="@../InterpolCoils" input="@../DOFs" output="@Visual" />
		</Node>   
	</Node>
	
</Node>

hugtalbot · 2025-11-11T09:16:11Z

hugtalbot
Nov 11, 2025
Maintainer

Hi @L-ZeYun

Your "skin" model misses a CollisionModel. Just add <TriangleCollisionModel /> and it will allow the collision to be detected.

A few additional notes :

your blood vessel looks very narrow, is it intended ?
such a narrow cylindrical shape, might results in a complex constraint problem to solve where multiple contact points (constraints) might act in a antagonist way. Therefore the constraint solver might have some hard time to converge (i.e. find a solution). Using constraint regularization in the solver might be a good approach
your simulation should not start with a possible collision configuration (which seems fine)

Hope this helps

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@L-ZeYun · 2026-01-12T06:24:59Z

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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

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Why does InstrumentCombined directly penetrate the skin?I encountered a problem when combining 3instruments_collis and QuadBendingFEMForceField. #5661

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Why does InstrumentCombined directly penetrate the skin?I encountered a problem when combining 3instruments_collis and QuadBendingFEMForceField. #5661

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