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[scenes] Remove warnings
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@epernod
epernod committed Jul 15, 2024
1 parent 1ccadbb commit 6dad552
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Showing 8 changed files with 41 additions and 39 deletions.
24 changes: 12 additions & 12 deletions examples/3instruments.scn
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Expand Up @@ -2,7 +2,7 @@
<Node name='root' dt='0.05' gravity='0 0 0'>

<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<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] -->
Expand All @@ -22,8 +22,8 @@
<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->

<Node name='topoLines_cath'>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="20" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0" radius='1'/>

<WireRestShape template="Rigid3d" name="catheterRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -33,8 +33,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo1' />
</Node>
<Node name='topoLines_guide'>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>

<WireRestShape template="Rigid3d" name="GuideRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -44,8 +44,8 @@
<MechanicalObject template='Rigid3d' name='dofTopo2' />
</Node>
<Node name='topoLines_coils'>
<RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
<RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>
<RodStraightSection name="StraightSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/>
<RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>

<WireRestShape template="Rigid3d" name="CoilRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -67,13 +67,13 @@
/>
<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/>

<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' radius='1' printLog='0'/>
<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter' massDensity='0.00000155'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->

<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' radius='0.9' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/>
<WireBeamInterpolation name='InterpolGuide' WireRestShape='@../topoLines_guide/GuideRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='GuideForceField' interpolation='@InterpolGuide' massDensity='0.00000155'/>

<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/>
<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->

<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
Expand All @@ -84,7 +84,7 @@
<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' />

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

<Node name='VisuCatheter' activated='true'>
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4 changes: 2 additions & 2 deletions examples/3instruments_collis.scn
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Expand Up @@ -9,7 +9,7 @@
<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 [FixedConstraint] -->
<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] -->
Expand Down Expand Up @@ -101,7 +101,7 @@

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

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

<Node name="Collis" activated="true">
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12 changes: 7 additions & 5 deletions examples/AdaptiveBeamController.scn
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@@ -1,20 +1,22 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" >
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<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.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [AdaptiveBeamController,AdaptiveBeamForceFieldAndMass,BeamInterpolation] -->

<VisualStyle displayFlags="showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields" />

<DefaultAnimationLoop />

<Node name="AdaptiveBeam1">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1 0.5 0 0 0 0 0 1 1 0 0 0 0 0 1 1.5 0 0 0 0 0 1 2 0 0 0 0 0 1 2.5 0 0 0 0 0 1 3 0 0 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6" />
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<BeamInterpolation name="BeamInterpolation" radius="0.1"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="50"/>
<!--
Expand All @@ -33,7 +35,7 @@
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1"/>
<BeamInterpolation name="BeamInterpolation2" radius="0.1" />
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<AdaptiveBeamController template="Rigid3d" name="m_controller"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="50"/>
<!--
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4 changes: 2 additions & 2 deletions examples/AdaptiveBeamMapping.scn
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" >
<RequiredPlugin name="Sofa.Component.Collision.Geometry"/> <!-- Needed to use components [TriangleCollisionModel] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -17,7 +17,7 @@
<BTDLinearSolver verbose="0"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<BeamInterpolation name="BeamInterpolation" radius="0.1" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="10"/>
<Node name="Collision">
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4 changes: 2 additions & 2 deletions examples/SingleBeam.scn
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="-3 -6 -3 3 3 3">
<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
Expand All @@ -17,7 +17,7 @@
<BTDLinearSolver verbose="0"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1 2 0 0 0 0 0 1 4 0 0 0 0 0 1 6 0 0 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<BeamInterpolation name="BeamInterpolation" radius="0.1" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="10"/>
</Node>
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10 changes: 5 additions & 5 deletions examples/SingleBeamDeployment.scn
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [WireBeamInterpolation WireRestShape] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.SolidMechanics.Spring"/> <!-- Needed to use components [RestShapeSpringsForceField] -->
Expand All @@ -15,8 +15,8 @@
<DefaultVisualManagerLoop />

<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="1" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="1" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" nbEdgesCollis="5" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" printLog="1" wireMaterials="@StraightSection @SpireSection"/>
<EdgeSetTopologyContainer name="meshLinesBeam"/>
Expand All @@ -33,13 +33,13 @@
p0="0 0 0" drawEdges="1"/>
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" radius="0.9"/>
<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="0.5" speed="0.5"
listening="1" controlledInstrument="0"/>
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
</Node>

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10 changes: 5 additions & 5 deletions examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -8,7 +8,7 @@
<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 [FixedConstraint] -->
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.IO.Mesh"/> <!-- Needed to use components [MeshSTLLoader] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [BTDLinearSolver] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
Expand All @@ -32,8 +32,8 @@


<Node name="EdgeTopology">
<RodStraightSection name="StraightSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="1" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.1" poissonRatio="0.3" nbEdgesCollis="10" nbEdgesVisu="200" length="20.0" spireDiameter="25" spireHeight="0.0"/>

<WireRestShape template="Rigid3d" name="BeamRestShape" wireMaterials="@StraightSection @SpireSection"/>

Expand All @@ -51,14 +51,14 @@
p0="0 0 0" drawEdges="1"/>
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" radius="0.9"/>
<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
startingPos="0 0 0 0 0 0 1" xtip="0 0 0" printLog="1"
rotationInstrument="0 0 0" step="5" speed="5"
listening="1" controlledInstrument="0"/>
<LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
<FixedConstraint name="FixedConstraint" indices="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>

<Node name="CollisionModel">
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