force dimension doesn't work on sofa

[Iwillsd]

Hello, After following the tutorial compilation successfully, when I run ./runSofa, I get an error：
[ERROR] [PluginManager] Plugin loading failed (/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib/libForceDimensions.so): libdhd.so.3: cannot open shared object file: No such file or directory.
When I modify the force dimension lib file libdhd.3.14.0 to libdhd.so.3, it runs ./runSofa.
I tried to add this plugin to SOFAv20.12, I tried force dimension omega.6 and sigma.7 respectively, but when starting the scene, the device only moved slightly at the beginning of the animation, no matter how I manipulated it afterwards , cannot use omega.6/sigma.7 devices.

[Iwillsd]

@hugtalbot

[Iwillsd]

@polyakovkrylo

[polyakovkrylo]

Hi @Iwillsd ,

I am sorry to hear the plugin does not work for you. Could you share your scene or try the example scene in the latest commit on the master branch? You can also use the version of the plugin from the master branch, it uses the static version of the library, so, in principle, there should not be problems with linking.

Best regards,
Vlad

[Iwillsd]

Hi @polyakovkrylo,

When I call the plugin of the SDK/lib/release/lin-x86_64-gcc/libdhd.a version to compile, I encounter an undefined reference issue.

lib/libSofa.Type.so.20.12.99  lib/libSofa.Compat.so.20.12.99  lib/libSofa.Config.so.20.12.99  -Wl,-rpath-link,/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib && :
/home/dell/raid/hx/sigma7_hx/sdk-3.14.0/lib/release/lin-x86_64-gcc/libdhd.a(dhdComUSB-libusb.o)：in function‘dhdUSBGetDeviceCount(int, int)’：
dhdComUSB-libusb.cpp:(.text+0x9d)：undefined reference to ‘libusb_init’
dhdComUSB-libusb.cpp:(.text+0xba)：undefined reference to ‘libusb_get_device_list’
dhdComUSB-libusb.cpp:(.text+0xed)：undefined reference to ‘libusb_get_device_descriptor’
dhdComUSB-libusb.cpp:(.text+0x120)：undefined reference to ‘libusb_free_device_list’
dhdComUSB-libusb.cpp:(.text+0x141)：undefined reference to ‘libusb_exit’
/home/dell/raid/hx/sigma7_hx/sdk-3.14.0/lib/release/lin-x86_64-gcc/libdhd.a(dhdComUSB-libusb.o)：in function‘dhdUSBGetDeviceCountList(int*, int*, int*, int)’：
dhdComUSB-libusb.cpp:(.text+0x215)：undefined reference to ‘libusb_init’
dhdComUSB-libusb.cpp:(.text+0x24e)：undefined reference to ‘libusb_get_device_list’
dhdComUSB-libusb.cpp:(.text+0x297)：undefined reference to ‘libusb_get_device_descriptor’
dhdComUSB-libusb.cpp:(.text+0x2eb)：undefined reference to ‘libusb_free_device_list’
dhdComUSB-libusb.cpp:(.text+0x30c)：undefined reference to ‘libusb_exit’

So I switched to using the dynamic linking SDK/lib/release/lin-x86_64-gcc/libdhd.so.3.14.0 for compilation, which compiled successfully, but the import of the plugin failed when running the scene example in the force dimension plugin.

Gtk-Message: 14:09:35.149: GtkDialog mapped without a transient parent. This is discouraged.
[ERROR]   [PluginManager] Plugin loading failed (/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib/libForceDimensions.so): libdhd.so.3: cannot open shared object file: No such file or directory.
[ERROR]   [RequiredPlugin(ForceDimensions)] Plugin loading failed (/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib/libForceDimensions.so): libdhd.so.3: cannot open shared object file: No such file or directory.
  
Failed to load: ["ForceDimensions"]
[ERROR]   [InfoComponent(Not created (OmegaDriver))] Object type OmegaDriver<> was not created  
The object is not in the factory.  

[ERROR]   [SceneLoaderXML] Node initialization failed. 

[INFO]    [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[ERROR] [PluginManager] Plugin loading failed (/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib/libForceDimensions.so): libdhd.so.3: cannot open shared object file: No such file or directory.
[ERROR] [RequiredPlugin(ForceDimensions] Plugin loading failed (/home/dell/raid/hx/sigma7_hx/sofa2012/build/lib/libForceDimensions.so): libdhd.so.3: cannot open shared object file: No such file or directory.

Failed to load: ["ForceDimensions"]
[WARNING] [SceneCheckMissingRequiredPlugin] This scene is using component defined in plugins but is not importing the required plugins.  

When I modify the force dimension lib file libdhd.3.14.0 to libdhd.so.3, it runs. However, when running the scene, the device only recovers to a certain position on its own and then does not respond. So I want to know if the effect of this plugin is only initializing the position or can be manipulated by humans, but I have not implemented this function yet.

I would be very grateful if you could help me！

Thanks so much！

[hugtalbot]

instead of renaming the lib have you tried to create a symbolic link instead @Iwillsd ?

@polyakovkrylo I let you react if you think about anything more here 😉

[polyakovkrylo]

Hi @Iwillsd! Sorry for the late response. By any chance, are there any errors when you create the OmegaDriver object? Does ForceDimension SDK examples work for you?

[hxxxxxian]

Hi, @hugtalbot, I'am @Iwillsd , sorry for changing my account. Thank you for your advice, but I have tried it and it still doesn't work.

[hxxxxxian]

Hi, @polyakovkrylo! Thank you for your reply. When I run the scene with lindhd.so.3, there were no errors, but there was a warning
`Gtk-Message: 16:20:05.799: GtkDialog mapped without a transient parent. This is discouraged.
[INFO] [SceneCheckerVisitor] Validating node "root" with checks: [SceneCheckDuplicatedName, SceneCheckMissingRequiredPlugin, SceneCheckUsingAlias]
[WARNING] [SceneCheckUsingAlias] This scene is using hard coded aliases. Aliases can be very confusing, use with caution.

• DefaultContactManager: 1 created with alias "CollisionResponse"
• DefaultPipeline: 1 created with alias "CollisionPipeline"
• EulerImplicitSolver: 1 created with alias "EulerImplicit"
  [INFO] [SceneCheckerVisitor] Finished validating node "root".
  `

I was able to use the ForceDimension SDK examples as normal, and when I run the scene， the device was already connected but couldn't do anything, which confused me.