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Remove code linked to brokenIn2 (#104)
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* Remove code linked to brokenIn2

* Fix compile due to bad cherry picks

* Fix bad merge

* add deprecated attribute
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@epernod
epernod authored Sep 12, 2023
1 parent dfb8c41 commit bc63e7a
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Showing 5 changed files with 28 additions and 148 deletions.
10 changes: 7 additions & 3 deletions src/BeamAdapter/component/BeamInterpolation.h
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Expand Up @@ -139,7 +139,6 @@ class BeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
bool verifyTopology();
void computeCrossSectionInertiaMatrix();

unsigned int getNumBeamsNotUnderControl(){return this->m_numBeamsNotUnderControl;}
unsigned int getNumBeams(){return this->d_edgeList.getValue().size();}

void getAbsCurvXFromBeam(int beam, Real& x_curv);
Expand Down Expand Up @@ -277,6 +276,13 @@ class BeamInterpolation : public virtual sofa::core::objectmodel::BaseObject
void addCollisionOnBeam(unsigned int b) ;
void clearCollisionOnBeam() ;

/////////////////////////// Deprecated Methods //////////////////////////////////////////
[[deprecated("Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06")]]
unsigned int getNumBeamsNotUnderControl() {
msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06";
return 0;
}

protected :
/// DATA INPUT (that could change in real-time)
using StateDataTypes = sofa::defaulttype::StdVectorTypes< sofa::type::Vec<DataTypes::spatial_dimensions, Real>, sofa::type::Vec<DataTypes::spatial_dimensions, Real>, Real >;
Expand Down Expand Up @@ -324,8 +330,6 @@ protected :

/// this->brokenInTwo = if true, the wire is in two separate parts
bool m_isControlled {false} ;
bool m_brokenInTwo {false} ;
unsigned int m_numBeamsNotUnderControl {0} ;
};

#if !defined(SOFA_PLUGIN_BEAMADAPTER_BEAMINTERPOLATION_CPP)
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26 changes: 6 additions & 20 deletions src/BeamAdapter/component/BeamInterpolation.inl
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Expand Up @@ -135,9 +135,7 @@ BeamInterpolation<DataTypes>::BeamInterpolation() :
, m_topology(nullptr)
, m_mstate(nullptr)
{
m_brokenInTwo=false;
m_isControlled=false;
m_numBeamsNotUnderControl = 0;
m_StateNodes->setName("bezierNodes");
addSlave(m_StateNodes);
}
Expand Down Expand Up @@ -368,8 +366,7 @@ void BeamInterpolation<DataTypes>::reset()
if(d_componentState.getValue()==ComponentState::Invalid)
return ;

bwdInit();
m_numBeamsNotUnderControl=0;
bwdInit();
}

template<class DataTypes>
Expand Down Expand Up @@ -426,22 +423,11 @@ void BeamInterpolation<DataTypes>::clear()
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(d_curvAbsList);

if(m_brokenInTwo)
{
edgeList.resize(m_numBeamsNotUnderControl);
lengthList.resize(m_numBeamsNotUnderControl);
DOF0TransformNode0.resize(m_numBeamsNotUnderControl);
DOF1TransformNode1.resize(m_numBeamsNotUnderControl);
curvAbsList.resize(m_numBeamsNotUnderControl);
}
else
{
edgeList.clear();
lengthList.clear();
DOF0TransformNode0.clear();
DOF1TransformNode1.clear();
curvAbsList.clear();
}
edgeList.clear();
lengthList.clear();
DOF0TransformNode0.clear();
DOF1TransformNode1.clear();
curvAbsList.clear();
}


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14 changes: 12 additions & 2 deletions src/BeamAdapter/component/WireBeamInterpolation.h
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Original file line number Diff line number Diff line change
Expand Up @@ -137,12 +137,11 @@ class WireBeamInterpolation : public virtual BeamInterpolation<DataTypes>

virtual void getRestTransform(unsigned int edgeInList, Transform &local0_H_local1_rest);
void getSplineRestTransform(unsigned int edgeInList, Transform &local_H_local0_rest, Transform &local_H_local1_rest) override;
void getBeamAtCurvAbs(const Real& x_input, unsigned int &edgeInList_output, Real& baryCoord_output, unsigned int start=0) override;

void getCurvAbsAtBeam(const unsigned int &edgeInList_input, const Real& baryCoord_input, Real& x_output);
bool getApproximateCurvAbs(const Vec3& x_input, const VecCoord& x, Real& x_output); // Project a point on the segments, return false if cant project

bool breaksInTwo(const Real &x_min_out, Real &x_break, int &numBeamsNotUnderControlled );


void setPathToRestShape(const std::string &o){m_restShape.setPath(o);}

Expand Down Expand Up @@ -181,6 +180,17 @@ class WireBeamInterpolation : public virtual BeamInterpolation<DataTypes>

template<class T>
static typename T::SPtr create(T* tObj, core::objectmodel::BaseContext* context, core::objectmodel::BaseObjectDescription* arg) ;

/////////////////////////// Deprecated Methods //////////////////////////////////////////
/// For coils: a part of the coil instrument can be brokenIn2 (by default the point of release is the end of the straight length)
[[deprecated("Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06")]]
bool breaksInTwo(const Real& x_min_out, Real& x_break, int& numBeamsNotUnderControlled) {
SOFA_UNUSED(x_min_out);
SOFA_UNUSED(x_break);
SOFA_UNUSED(numBeamsNotUnderControlled);
msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06";
return 0.0;
}
};


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123 changes: 3 additions & 120 deletions src/BeamAdapter/component/WireBeamInterpolation.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -62,14 +62,16 @@ void WireBeamInterpolation<DataTypes>::init()
if( m_restShape.get() == nullptr )
{
msg_error() << "Missing WireRestShape. The component is thus de-activated" ;
this->d_componentState = sofa::core::objectmodel::ComponentState::Invalid ;
this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid);
return;
}

type::vector<Real> xP_noticeable;
type::vector< int> nbP_density;

m_restShape.get()->getSamplingParameters(xP_noticeable, nbP_density);

this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid);
}


Expand Down Expand Up @@ -152,50 +154,6 @@ void WireBeamInterpolation<DataTypes>::getSplineRestTransform(unsigned int edgeI
}



template<class DataTypes>
void WireBeamInterpolation<DataTypes>::getBeamAtCurvAbs(const Real& x_input, unsigned int &edgeInList_output,
Real& baryCoord_output, unsigned int start)
{
if(this->m_brokenInTwo )
{
Real x_abs_broken = this->m_restShape.get()->getReleaseCurvAbs();

////////// case 1.a : broken part !!
if (x_input > x_abs_broken)
{

/// x_i = curv_abs from the begining of the broken part
Real x_i = x_input-x_abs_broken;
Real x=0.0;

for (unsigned int e=0; e<this->m_numBeamsNotUnderControl; e++)
{
x += this->getLength(e);
if(x > x_i)
{
edgeInList_output = e;
Real x0 = x - this->getLength(e);
baryCoord_output =(x_i-x0) / this->getLength(e);
return;
}
}

edgeInList_output = this->m_numBeamsNotUnderControl-1;
baryCoord_output = 1.0;
return;

}
////////// case 1.b : controlled part !!
else
{
start = this->m_numBeamsNotUnderControl;
}
}

Inherited::getBeamAtCurvAbs(x_input, edgeInList_output, baryCoord_output, start);
}

template<class DataTypes>
void WireBeamInterpolation<DataTypes>::getCurvAbsAtBeam(const unsigned int &edgeInList_input, const Real& baryCoord_input, Real& x_output)
{
Expand Down Expand Up @@ -274,80 +232,6 @@ bool WireBeamInterpolation<DataTypes>::getApproximateCurvAbs(const Vec3& x_input
}


template<class DataTypes>
bool WireBeamInterpolation<DataTypes>::breaksInTwo(const Real &x_min_out, Real &x_break, int &numBeamsNotUnderControlled )
{
const Real eps = 0.0000000001;

if (this->m_brokenInTwo)
{
msg_error() << "Already broken" ;
return false;
}

if (!this->isControlled() || this->m_restShape == nullptr || x_min_out <= eps)
{
msg_error() << "Problem with function breaksInTwo ";
return false;
}

// if the release point is not "out" (x_min_out> x_break), then the break is not possible
x_break = m_restShape.get()->getReleaseCurvAbs();
if (x_min_out > x_break)
return false;

// put the info of the "released" part of the beam in the beginning of the beams;
this->m_numBeamsNotUnderControl=0;
unsigned int duplicatePoint=0;

// browse the curvilinear abscissa to find the point that needs to be duplicate
// put the info of the second part of the wire at the begining
unsigned int i=0;

auto edgeList = sofa::helper::getWriteOnlyAccessor(this->d_edgeList);
auto lengthList = sofa::helper::getWriteOnlyAccessor(this->d_lengthList);
auto DOF0TransformNode0 = sofa::helper::getWriteOnlyAccessor(this->d_DOF0TransformNode0);
auto DOF1TransformNode1 = sofa::helper::getWriteOnlyAccessor(this->d_DOF1TransformNode1);
auto curvAbsList = sofa::helper::getWriteOnlyAccessor(this->d_curvAbsList);

const unsigned int curvAbsListSize = curvAbsList.size();

for (unsigned int e = 1; e < curvAbsListSize; e++)
{
if (fabs(curvAbsList[e].x() - x_break) < eps)
{
duplicatePoint = e;
this->m_numBeamsNotUnderControl = curvAbsListSize - e;
}

if (curvAbsList[e].x() > (x_break - eps))
{
edgeList[i] = edgeList[e];
lengthList[i] = lengthList[e];
curvAbsList[i] = curvAbsList[e];

// When the instrument are rotated we apply a transformation between DOF and beam node
// (should always be the case and dofsAndBeamsAligned should be false)
if (!this->d_dofsAndBeamsAligned.getValue())
{
DOF0TransformNode0[i] = DOF0TransformNode0[e];
DOF1TransformNode1[i] = DOF1TransformNode1[e];
}

i++;
}
}

if (duplicatePoint == 0)
msg_error() << " Problem no point were found at the x_break position ! getReleaseCurvAbs() should provide a <<notable>> point" ;

m_restShape.get()->releaseWirePart();
numBeamsNotUnderControlled = this->m_numBeamsNotUnderControl;

this->m_brokenInTwo = true;

return true;
}

template<class DataTypes>
template<class T>
Expand Down Expand Up @@ -387,7 +271,6 @@ typename T::SPtr WireBeamInterpolation<DataTypes>::create(T* tObj, core::object
return obj;
}


} // namespace _wirebeaminterpolation_

} // namespace sofa::component::fem
3 changes: 0 additions & 3 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Original file line number Diff line number Diff line change
Expand Up @@ -785,9 +785,6 @@ void InterventionalRadiologyController<DataTypes>::applyInterventionalRadiologyC
unsigned int previousNumControlledNodes = m_numControlledNodes;
unsigned int seg_remove = 0;

if (m_dropCall)
processDrop(previousNumControlledNodes, seg_remove);

// ## STEP 1: Find the total length of the COMBINED INSTRUMENTS and the one for which xtip > 0 (so the one which are simulated)
helper::AdvancedTimer::stepBegin("step1");
Real totalLengthCombined=0.0;
Expand Down

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