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| <?xml version='1.0'?> | ||
| <Node name='root' dt='0.05' gravity='0 0 0'> | ||
| <Node name='Plugins'> | ||
| <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 CollisionPipeline] --> | ||
| <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 [CollisionResponse] --> | ||
| <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 [FixedConstraint] --> | ||
| <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] --> | ||
| </Node> | ||
| <VisualStyle displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields' /> | ||
| <DefaultVisualManagerLoop/> | ||
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| <FreeMotionAnimationLoop /> | ||
| <LCPConstraintSolver mu='0.1' tolerance='1e-10' maxIt='1000' build_lcp='false' /> | ||
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| <CollisionPipeline depth='6' verbose='1' draw='0'/> | ||
| <BruteForceBroadPhase/> | ||
| <BVHNarrowPhase/> | ||
| <LocalMinDistance name='localmindistance' alarmDistance='2' contactDistance='1' angleCone='0.8' coneFactor='0.8' /> | ||
| <CollisionResponse name='Response' response='FrictionContactConstraint' /> | ||
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| <!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ --> | ||
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| <Node name='topoLines_cath'> | ||
| <!--stiff silicone E = 10000 MPa // 1550 Kg/m3--> | ||
| <RodStraightSection name="StraightSection" youngModulus="1000" massDensity='0.000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/> | ||
| <RodSpireSection name="SpireSection" youngModulus="1000" massDensity='0.000155' nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/> | ||
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| <WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/> <!-- silicone --> | ||
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| <EdgeSetTopologyContainer name='meshLinesCath' /> | ||
| <EdgeSetTopologyModifier name='Modifier' /> | ||
| <EdgeSetGeometryAlgorithms name='GeomAlgo' template='Rigid3d' /> | ||
| <MechanicalObject template='Rigid3d' name='dofTopo1' /> | ||
| </Node> | ||
| <Node name='topoLines_guide'> | ||
| <!--stiff silicone E = 10000 MPa // 1550 Kg/m3--> | ||
| <RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> | ||
| <RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/> | ||
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| <WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/> | ||
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| <EdgeSetTopologyContainer name='meshLinesGuide' /> | ||
| <EdgeSetTopologyModifier name='Modifier' /> | ||
| <EdgeSetGeometryAlgorithms name='GeomAlgo' template='Rigid3d' /> | ||
| <MechanicalObject template='Rigid3d' name='dofTopo2' /> | ||
| </Node> | ||
| <Node name='topoLines_coils'> | ||
| <!-- platine E = 168000 MPa // 21000 Kg/m3--> | ||
| <RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> | ||
| <RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/> | ||
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| <WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/> | ||
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| <EdgeSetTopologyContainer name='meshLinesCoils' /> | ||
| <EdgeSetTopologyModifier name='Modifier' /> | ||
| <EdgeSetGeometryAlgorithms name='GeomAlgo' template='Rigid3d' /> | ||
| <MechanicalObject template='Rigid3d' name='dofTopo3' /> | ||
| </Node> | ||
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| <Node name='InstrumentCombined'> | ||
| <EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' /> | ||
| <BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/> | ||
| <RegularGridTopology name='meshLinesCombined' | ||
| nx='200' 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'/> | ||
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| <WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/> | ||
| <AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' /> | ||
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| <WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/> | ||
| <AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' /> | ||
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| <WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/> | ||
| <AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' /> | ||
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| <InterventionalRadiologyController template='Rigid3d' name='m_ircontroller' printLog='1' xtip='1 0 0' step='1' rotationInstrument='0 0 0' | ||
| speed="0.01" controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' instruments='InterpolCatheter InterpolGuide InterpolCoils' /> | ||
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| <BeamAdapterActionController name="AController" interventionController="@m_ircontroller" writeMode="1" | ||
| /> | ||
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| <LinearSolverConstraintCorrection printLog='false' wire_optimization='true'/> | ||
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| <FixedConstraint name='FixedConstraint' indices='0' /> | ||
| <RestShapeSpringsForceField points='@m_ircontroller.indexFirstNode' stiffness='1e8' angularStiffness='1e8' /> | ||
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| <Node name='Collis' activated='true'> | ||
| <EdgeSetTopologyContainer name='collisEdgeSet' /> | ||
| <EdgeSetTopologyModifier name='colliseEdgeModifier' /> | ||
| <EdgeSetGeometryAlgorithms name='GeomAlgo' /> | ||
| <MechanicalObject name='CollisionDOFs'/> | ||
| <MultiAdaptiveBeamMapping name='collisMap' controller='../m_ircontroller' useCurvAbs='1' printLog='0'/> | ||
| <LineCollisionModel proximity='0.0' group='1'/> | ||
| <PointCollisionModel proximity='0.0' group='1'/> | ||
| </Node> | ||
|
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| <Node name='VisuCatheter' activated='true'> | ||
| <MechanicalObject name='Quads' /> | ||
| <QuadSetTopologyContainer name='ContainerCath' /> | ||
| <QuadSetTopologyModifier name='Modifier' /> | ||
| <QuadSetGeometryAlgorithms name='GeomAlgo' template='Vec3d' /> | ||
| <Edge2QuadTopologicalMapping nbPointsOnEachCircle='10' radius='2' input='@../../topoLines_cath/meshLinesCath' output='@ContainerCath' flipNormals='true'/> | ||
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| <AdaptiveBeamMapping name='VisuMapCath' useCurvAbs='1' printLog='0' interpolation='@../InterpolCatheter' input='@../DOFs' output='@Quads' isMechanical='false' /> | ||
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| <Node name='VisuOgl' 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'/> | ||
| <IdentityMapping input='@../Quads' output='@Visual'/> | ||
| </Node> | ||
| </Node> | ||
|
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| <Node name='VisuGuide' activated='true'> | ||
| <MechanicalObject name='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='@Quads' isMechanical='false' /> | ||
| <Node name='VisuOgl'> | ||
| <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'/> | ||
| <IdentityMapping input='@../Quads' output='@Visual'/> | ||
| </Node> | ||
| </Node> | ||
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| <Node name='VisuCoils' activated='true'> | ||
| <MechanicalObject name='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='@Quads' isMechanical='false' /> | ||
| <Node name='VisuOgl'> | ||
| <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'/> | ||
| <IdentityMapping input='@../Quads' output='@Visual'/> | ||
| </Node> | ||
| </Node> | ||
| </Node> | ||
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| <Node name='CollisionModel'> | ||
| <MeshOBJLoader name='meshLoader' filename='mesh/phantom.obj' triangulate='true' flipNormals='1'/> | ||
| <MeshTopology position='@meshLoader.position' triangles='@meshLoader.triangles'/> | ||
| <MechanicalObject name='DOFs1' position='0 0 400' scale='3' ry='90'/> | ||
| <TriangleCollisionModel simulated='0' moving='0'/> | ||
| <LineCollisionModel simulated='0' moving='0'/> | ||
| <PointCollisionModel simulated='0' moving='0'/> | ||
| <OglModel name='Visual' src='@meshLoader' color='1 0 0 0.3' scale='3' ry='90'/> | ||
| </Node> | ||
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| </Node> | ||
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