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[WireRestShape] Introduce use of RodSectionMaterial (#65)
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* [WireRestShape] Remove optiond releaseWire or brokenIn2

* Remove use of Edge2QuadTopologicalMapping

* [WireRestShape] Remove code related to releaseWire, brokenIn2 and EdgeSetTopologyModifier

* Fix tests

* [doc] Add some comments

* Update WireREstShape to use the new WireMaterialSection links

* Add check on BeamMAterial section

* [src] Move numEdges and numEdgesCollision into WireSectionMaterial

* [src] Update WireRestShape to use a vector of Links instead of hardcoded material1 and material2

* [WireRestShape] Fix Collision edges sampling

* [WRShape] Add epsilon on get youngModulus and interpolation

* [WireSection] Update WireSectionMaterial to be templated

* backup work on moving loader to material

* Update WireRestShape to only use RodSectionMaterials

* Clean and doc Rod section classes and WireRestShape

* Fix bad cherry pick

* [scenes] Update all scenes with new rod section components

* Fix more tests

* restore epsilon value

* Update scenes behavior and add recorded motion to fully test the 3 instruments deployments

* Update scenes regression references

* Update scenes regression references
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@epernod
epernod authored Dec 7, 2023
1 parent 9553a37 commit d4820a1
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Showing 20 changed files with 413 additions and 814 deletions.
3 changes: 2 additions & 1 deletion BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp
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Expand Up @@ -122,7 +122,8 @@ void InterventionalRadiologyController_test::testDefaultInit()
"<?xml version='1.0'?> "
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <WireRestShape name='BeamRestShape'/> "
" <RodStraightSection name='StraightSection'/> "
" <WireRestShape name='BeamRestShape' wireMaterials='@StraightSection'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
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69 changes: 39 additions & 30 deletions BeamAdapter_test/component/model/WireRestShape_test.cpp
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Expand Up @@ -119,13 +119,14 @@ void WireRestShape_test::testDefaultInit()
{
std::string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <WireRestShape name='BeamRestShape'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
"</Node> ";
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <RodStraightSection name='StraightSection'/> "
" <WireRestShape name='BeamRestShape' wireMaterials='@StraightSection' /> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
"</Node> ";

loadScene(scene);

Expand All @@ -141,28 +142,31 @@ void WireRestShape_test::testParameterInit()
{
std::string scene =
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <WireRestShape name='BeamRestShape' length='100.0' "
" straightLength='95.0'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
"</Node> ";

"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <RodStraightSection name='StraightSection' length='95.0' nbEdgesCollis='50' /> "
" <RodStraightSection name='StraightSection2' length='5.0' nbEdgesCollis='10' /> "
" <WireRestShape name='BeamRestShape' wireMaterials='@StraightSection "
" @StraightSection2'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
"</Node> ";

loadScene(scene);

WireRestShapeRig3::SPtr wireRShape = this->m_root->get< WireRestShapeRig3 >(sofa::core::objectmodel::BaseContext::SearchDown);
WireRestShapeRig3* wire = wireRShape.get();
EXPECT_NE(wire, nullptr);

Real fullLength = wire->getLength();
Real straightLength = 95.0;
EXPECT_EQ(fullLength, 100.0);

Real straightLength = 95.0;
int nbrE0 = 50;
int nbrE1 = 10;
vector<Real> keysPoints, keysPoints_ref = { 0, straightLength, fullLength };
Real ratio = straightLength / fullLength;
vector<int> nbP_density, nbP_density_ref = { int(floor(5.0 * ratio)), int(floor(20.0 * (1 - ratio))) };
vector<int> nbP_density, nbP_density_ref = { nbrE0, nbrE1 };

wire->getSamplingParameters(keysPoints, nbP_density);
EXPECT_EQ(keysPoints.size(), 3);
Expand All @@ -175,9 +179,9 @@ void WireRestShape_test::testParameterInit()
wire->getCollisionSampling(dx1, 0.0);
wire->getCollisionSampling(dx2, fullLength);
wire->getCollisionSampling(dx3, 90.0);
EXPECT_EQ(dx1, straightLength / nbEdgesCol_ref);
EXPECT_EQ(dx2, (fullLength - straightLength) / nbEdgesCol_ref);
EXPECT_EQ(dx3, straightLength / nbEdgesCol_ref);
EXPECT_EQ(dx1, straightLength / nbrE0);
EXPECT_EQ(dx2, (fullLength - straightLength) / nbrE1);
EXPECT_EQ(dx3, straightLength / nbrE0);
}


Expand All @@ -187,8 +191,10 @@ void WireRestShape_test::testTopologyInit()
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <WireRestShape name='BeamRestShape' length='100.0' "
" straightLength='95.0' numEdges='30'/> "
" <RodStraightSection name='StraightSection' length='95.0' nbEdgesVisu='20' /> "
" <RodStraightSection name='StraightSection2' length='5.0' nbEdgesVisu='10' /> "
" <WireRestShape name='BeamRestShape' wireMaterials='@StraightSection "
" @StraightSection2'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
Expand All @@ -205,11 +211,12 @@ void WireRestShape_test::testTopologyInit()
EXPECT_NE(topo, nullptr);

// checking topo created by WireRestShape
int numbEdgesVisu = 30;
EXPECT_EQ(topo->getNbPoints(), numbEdgesVisu + 1);
EXPECT_EQ(topo->getNbEdges(), numbEdgesVisu);
int numbEdgesVisu0 = 20;
int numbEdgesVisu1 = 10;
EXPECT_EQ(topo->getNbPoints(), numbEdgesVisu0 + numbEdgesVisu1 + 1);
EXPECT_EQ(topo->getNbEdges(), numbEdgesVisu0 + numbEdgesVisu1);

Real dx = 100.0 / Real(numbEdgesVisu);
Real dx = 95.0 / Real(numbEdgesVisu0);

EXPECT_EQ(topo->getPX(0), 0.0);
EXPECT_EQ(topo->getPX(1), dx);
Expand All @@ -227,8 +234,10 @@ void WireRestShape_test::testTransformMethods()
"<?xml version='1.0'?>"
"<Node name='Root' gravity='0 -9.81 0' dt='0.01'> "
" <Node name='BeamTopology'> "
" <WireRestShape name='BeamRestShape' length='100.0' "
" straightLength='95.0' numEdges='30'/> "
" <RodStraightSection name='StraightSection' length='95.0' /> "
" <RodSpireSection name='StraightSection2' length='5.0' /> "
" <WireRestShape name='BeamRestShape' wireMaterials='@StraightSection "
" @StraightSection2'/> "
" <EdgeSetTopologyContainer name='meshLinesBeam'/> "
" <EdgeSetTopologyModifier /> "
" </Node> "
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15 changes: 9 additions & 6 deletions examples/3instruments.html
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Expand Up @@ -9,7 +9,10 @@
<div id="orangeText">Instruments control</div>
<br>
<div align="controler">
You can use the keyboard to control the instrument.
<i>Recorded motion has been recorded to demonstrate the 3 intruments behavior.</i>
<br>
<br>To manually test it, set the component <b>BeamAdapterActionController writeMode</b> to true.
<br>Then you can use the keyboard to control the instrument:
<ul>
<li>To change instrument
<ul>
Expand All @@ -18,16 +21,16 @@
<li><b> ctrl + 2</b>
</ul>
</li>
<li>To progress instrument
<li>To move the instrument forward/backward
<ul>
<li><b> ctrl + +</b>
<li><b> ctrl + -</b>
<li><b> ctrl + UP key</b>
<li><b> ctrl + DOWN key</b>
</ul>
</li>
<li>To turn instrument
<ul>
<li><b> ctrl + A</b>
<li><b> ctrl + E</b>
<li><b> ctrl + LEFT key</b>
<li><b> ctrl + RIGHT key</b>
</ul>
</li>
</ul>
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44 changes: 28 additions & 16 deletions examples/3instruments.scn
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Expand Up @@ -15,34 +15,41 @@
<RequiredPlugin name="Sofa.GL.Component.Rendering3D"/> <!-- Needed to use components [OglModel] -->
<VisualStyle displayFlags='showVisualModels showBehaviorModels showCollisionModels hideMappings hideForceFields' />


<DefaultAnimationLoop />
<DefaultVisualManagerLoop/>



<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->

<Node name='topoLines_cath'>
<WireRestShape template='Rigid3d' printLog='0' name='catheterRestShape' length='1000.0' straightLength='600' spireDiameter='4000.0' spireHeight='0.0'
densityOfBeams='40 10' numEdges='200' numEdgesCollis='40 20' youngModulus='10000' youngModulusExtremity='10000'/> <!-- silicone -->
<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"/>

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

<EdgeSetTopologyContainer name='meshLinesCath' />
<EdgeSetTopologyModifier name='Modifier' />
<EdgeSetGeometryAlgorithms name='GeomAlgo' template='Rigid3d' />
<MechanicalObject template='Rigid3d' name='dofTopo1' />
</Node>
<Node name='topoLines_guide'>
<WireRestShape template='Rigid3d' printLog='0' name='GuideRestShape' length='1000.0' straightLength='980.0' spireDiameter='25' spireHeight='0.0'
densityOfBeams='30 5' numEdges='200' numEdgesCollis='50 10' youngModulus='10000' youngModulusExtremity='10000'/>
<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"/>

<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'>
<WireRestShape template='Rigid3d' printLog='0' name='CoilRestShape' length='600.0' straightLength='540.0' spireDiameter='7' spireHeight='5.0'
densityOfBeams='40 20' numEdges='400' numEdgesCollis='30 30' youngModulus='168000' youngModulusExtremity='168000'/>
<EdgeSetTopologyContainer name='meshLinesCoils' />
<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"/>

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

<EdgeSetTopologyContainer name='meshLinesCoils' />
<EdgeSetTopologyModifier name='Modifier' />
<EdgeSetGeometryAlgorithms name='GeomAlgo' template='Rigid3d' />
<MechanicalObject template='Rigid3d' name='dofTopo3' />
Expand All @@ -53,10 +60,10 @@
<EulerImplicitSolver rayleighStiffness='0.2' rayleighMass='0.1' printLog='false' />
<BTDLinearSolver subpartSolve='0' verification='0' verbose='0'/>
<RegularGridTopology name='meshLinesCombined'
nx='60' ny='1' nz='1'
xmin='0.0' xmax='1.0'
ymin='0' ymax='0'
zmin='1' zmax='1'
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'/>

Expand All @@ -69,11 +76,16 @@
<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' radius='0.1' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->

<InterventionalRadiologyController template='Rigid3d' name='m_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' />
<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
timeSteps="9.1 17.1 17.55 18.05 18.6 19.05 19.55 20.05 20.5 21 21.45 21.9 22.65 23.1 23.55 24.05 24.55 25 25.45 25.95 26.4 27.1 27.55 28.05 28.55 29 29.5 29.95 30.4 30.9 31.4 31.85 32.35 33.05 33.5 34 34.45 34.9 35.4 35.85 36.35 36.8 37.25 37.7 38.2 38.65 39.4 39.85 40.3 40.7 41.2 41.65 42.1 42.55 43 43.4 44.1 44.55 45 45.45 45.9 46.3 46.75 47.2 47.65 48.1 48.55 49 49.65 50.1 50.5 50.9 51.35 51.75 52.2 52.6 53.05 53.5 53.95 54.4 54.85 55.5 55.9 59.1 66.15 66.6 67.05 67.45 67.9 68.35 68.8 69.25 69.65 70.1 70.55 71.2 71.6 72.05 72.5 72.95 73.4 77.6 81.9 87.4 87.75 88.1 88.45 88.75 89.1 89.45 89.75 90.1 90.6 90.9 91.25 91.6 91.95 92.3 92.6 92.95 93.25 93.6 93.95 94.25 94.6 94.95 95.4 95.75 96.1 96.4 96.75 97.05 97.35 97.7 98.05 98.4 98.7 99.15 99.5 99.8 100.15 100.45 100.75 101.1 101.4 101.75 102.05 102.55 102.85 103.2 103.5 103.8 104.1 104.4 104.75 105.05 105.4 105.7 106 106.45 106.75 107.1 107.4 107.7 108 108.35 108.65 108.95 109.25 109.55 110 110.3 110.6 110.9 111.2 111.45 111.75 112.05 112.35 112.65 113.1 113.35 113.65 113.95 114.2 114.5 114.8 115.1 115.35 115.65 116.1 116.35 125.8 128.2 131.6 131.8 132 132.25 132.45 132.65 132.85 133.05 133.3 133.5 133.8 134 134.2 134.4 134.6 134.8 135 135.2 135.4 135.6 135.8 136 136.3 136.5 136.75 136.95 137.15 137.35 137.5 137.7 137.9 138.15 138.3 138.6 138.85 139 139.2 139.4 139.6 139.8 140 140.15 140.35 140.55 140.75 140.95 141.25 141.45 141.65 141.85 142.05 142.25 142.45 142.65 142.85 143.05 143.25 143.45 143.65 143.85 144.15 144.3 144.5 144.7 144.9 145.1 145.3 145.45 145.65 145.95 146.1 146.3 146.5 146.7 146.9 147.1 147.25 147.45 147.65 147.85 148.05 148.25 148.4 148.7 148.9 149.1 149.25 149.45 149.65 149.85 150 150.2 150.35 150.55 150.75 150.9 151.05 151.3 151.45 151.6 151.8 151.95 152.1 152.25 152.4 152.65 152.8 153 153.15 153.3 153.45 153.6 153.75 153.9 154.1 154.25 154.4 154.6 154.75 154.9 155.1 155.25 155.4 155.55 155.7 155.85 156 156.15 156.4 156.55 156.7 156.85 157 157.15 157.3 157.45 157.6 157.75 157.9 158.05 159 160.9 163.4 163.55 163.7 163.85 164.1 164.25 164.4 164.55 164.75 164.9 165.05 165.2 165.35 165.5 165.65 165.8 165.95 166.15 166.35 166.5 166.7 166.85 167 167.15 167.3 167.45 167.65 167.8 167.95 168.1 168.25 168.45 168.6 168.8 169 169.15 169.3 169.45 169.6 169.8 169.95 170.1 170.25 170.4 170.55 170.7 170.95 171.1 171.25 171.4 171.55 171.75 171.9 172.05 172.2 172.45 172.6 172.75 172.9 173.1 173.25 185.8"
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 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 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 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 8 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 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' />

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

<Node name='VisuCatheter' activated='true'>
<MechanicalObject name='Quads' />
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46 changes: 38 additions & 8 deletions examples/3instruments_collis.html
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@@ -1,12 +1,42 @@
<html>
<head>
<link href="../../../../examples/Objects/sofa_white.css" rel="stylesheet" type="text/css" />
</head>
<body>
<h1>Scene controls</h1>
After launching the simulation ("Animate" button), clic on the viewport to give it the focus.<br>
<b>Ctrl+[UP/DOWN key]</b> move the tool forward/backward.<br>
<b>Ctrl+[LEFT/RIGHT key]</b> rotate the tool.<br>
<b>Ctrl+[0/1/2]</b> switch tool.<br>

<div id="contenu">
<center><h3>Beam Adapter 3 instruments interventional radiology </h3></center>
<br>
<div id="orangeText">Instruments control</div>
<br>
<div align="controler">
<i>Recorded motion has been recorded to demonstrate the 3 intruments behavior.</i>
<br>
<br>To manually test it, set the component <b>BeamAdapterActionController writeMode</b> to true.
<br>Then you can use the keyboard to control the instrument:
<ul>
<li>To change instrument
<ul>
<li><b> ctrl + 0</b>
<li><b> ctrl + 1</b>
<li><b> ctrl + 2</b>
</ul>
</li>
<li>To move the instrument forward/backward
<ul>
<li><b> ctrl + UP key</b>
<li><b> ctrl + DOWN key</b>
</ul>
</li>
<li>To turn instrument
<ul>
<li><b> ctrl + LEFT key</b>
<li><b> ctrl + RIGHT key</b>
</ul>
</li>
</ul>
<br>

</div>
</div>
</body>


</html>
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