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[src] Update RodSection, WireRestShape and All BeamInterpolation to correctly redirect the getters to the Data #155

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merged 5 commits into from
Jul 26, 2024
Merged

[src] Update RodSection, WireRestShape and All BeamInterpolation to correctly redirect the getters to the Data #155

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039ea8f
Add getter to BeamSection and mechanical param into RodSectionMaterial
epernod Jul 31, 2023
847928e
Update code of BeamFF to use mechanical param retrieve from the BeamI…
epernod Aug 1, 2023
56548b8
[src] Update RodSection, WireRestShape and All BeamInterpolation to c…
epernod Jul 19, 2024
2f76968
Fix some scenes
epernod Jul 19, 2024
5bbf74e
Fix some scenes
epernod Jul 19, 2024
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26 changes: 13 additions & 13 deletions examples/3instruments.scn
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,9 +21,9 @@

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

<Node name='topoLines_cath'>
<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'/>
<Node name='topoLines_cath'>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="40" nbEdgesVisu="120" length="600.0" radius='1'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' 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" radius='0.9'/>
<RodSpireSection name="SpireSection" youngModulus="10000" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0" radius='0.9'/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity='0.00000155' nbEdgesCollis="50" nbEdgesVisu="196" length="980.0" radius='0.9'/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity='0.00000155' 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" radius='0.1'/>
<RodSpireSection name="SpireSection" youngModulus="168000" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0" radius='0.1'/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity='0.000021' nbEdgesCollis="30" nbEdgesVisu="360" length="540.0" radius='0.1'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity='0.000021' 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 @@ -67,14 +67,14 @@
/>
<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/>

<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='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape'/>
<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter'/>

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

<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape' printLog='0'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@InterpolCoils' massDensity='0.000021'/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<WireBeamInterpolation name='InterpolCoils' WireRestShape='@../topoLines_coils/CoilRestShape'/>
<AdaptiveBeamForceFieldAndMass name='CoilsForceField' interpolation='@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"
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24 changes: 12 additions & 12 deletions examples/3instruments_collis.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -38,8 +38,8 @@
<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil) ------------------------------ -->

<Node name="topoLines_cath">
<RodStraightSection name="StraightSection" youngModulus="10000" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="10" nbEdgesVisu="80" length="400.0" spireDiameter="4000.0" spireHeight="0.0"/>

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

Expand All @@ -49,8 +49,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo1" />
</Node>
<Node name="topoLines_guide">
<RodStraightSection name="StraightSection" youngModulus="10000" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="10000" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>
<RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="50" nbEdgesVisu="196" length="980.0"/> <!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="10000" massDensity="0.00000155" radius="0.9" nbEdgesCollis="10" nbEdgesVisu="4" length="20.0" spireDiameter="25" spireHeight="0.0"/>

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

Expand All @@ -60,8 +60,8 @@
<MechanicalObject template="Rigid3d" name="dofTopo2" />
</Node>
<Node name="topoLines_coils">
<RodStraightSection name="StraightSection" youngModulus="168000" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/>
<RodSpireSection name="SpireSection" youngModulus="168000" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>
<RodStraightSection name="StraightSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="360" length="540.0"/> <!-- platine E = 168000 MPa // 21000 Kg/m3-->
<RodSpireSection name="SpireSection" youngModulus="168000" massDensity="0.000021" radius="0.1" nbEdgesCollis="30" nbEdgesVisu="40" length="60.0" spireDiameter="7" spireHeight="5.0"/>

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

Expand All @@ -83,14 +83,14 @@
/>
<MechanicalObject template="Rigid3d" name="DOFs" showIndices="0" ry="-90"/>

<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="InterpolCatheter" WireRestShape="@../topoLines_cath/catheterRestShape"/>
<AdaptiveBeamForceFieldAndMass name="CatheterForceField" interpolation="@InterpolCatheter" />

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

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

<BeamAdapterActionController name="AController" interventionController="@IRController" writeMode="0"
timeSteps="4.3 7.5 7.65 7.85 8.05 8.25 8.45 8.7 8.9 9.2 9.4 9.6 9.8 10 10.25 10.4 10.65 10.85 11.05 11.25 11.45 11.7 11.95 12.2 12.4 12.6 12.8 13 13.2 13.4 13.6 13.85 14.05 14.35 14.55 14.75 14.95 15.15 15.35 15.5 15.7 15.85 16.1 16.25 16.4 16.55 16.7 16.85 17 17.2 17.35 17.55 17.7 17.85 17.95 18.1 18.25 18.35 18.5 18.65 18.85 19 19.2 19.35 19.45 19.6 19.75 19.95 20.1 20.25 20.4 20.55 20.7 20.85 21.35 22.35 23.05 23.65 25 25.1 25.2 25.35 25.5 25.65 25.8 29 30.5 31.9 33.85 33.95 34.1 34.2 34.3 34.45 34.55 34.65 34.8 34.95 35.05 35.15 35.3 35.4 35.5 35.6 35.7 35.8 35.95 36.1 36.2 36.3 36.45 36.5 36.65 36.75 36.9 37 37.1 37.2 37.3 37.45 37.55 37.65 37.75 37.85 38 38.1 38.2 38.3 38.45 38.55 38.65 38.8 38.9 39.05 39.15 39.3 39.4 39.55 39.65 39.7 39.85 39.9 40.1 40.2 40.3 40.4 40.55 40.65 40.8 40.9 41.05 41.15 41.3 41.4 41.6 41.7 41.8 41.95 42 42.1 42.2 42.35 42.45 42.6 42.65 42.8 42.95 43.05 43.2 43.3 43.45 43.55 43.65 43.8 43.9 44 44.15 44.25 44.4 44.55 45.5 47.35 47.45 47.55 47.65 47.7 47.8 47.9 48 50.4 52.35 52.45 52.55 52.65 52.75 52.9 53 53.1 53.2 53.3 53.4 54.35 56.05 56.15 56.2 56.3 56.4 56.5 56.6 56.65 56.7 57.95 58.6 59.45 59.55 59.6 59.7 59.8 59.9 59.95 60.05 60.1 60.15 60.25 60.3 60.4 60.5 60.6 60.65 60.75 60.85 60.95 61 61.1 61.15 61.2 61.3 61.4 61.5 61.65 61.75 61.85 62 62.15 62.25 62.35 62.45 62.55 62.65 62.75 62.85 62.9 63 63.05 63.15 63.2 63.25 63.35 63.4 63.5 63.6 63.7 63.75 63.85 63.95 64.05 64.2 64.3 64.35 64.45 64.55 64.6 64.7 64.8 64.9 65 65.1 65.2 65.3 65.45 65.55 65.65 65.75 65.8 65.9 72.15 73.6 73.7 73.8 73.85 73.95 74 74.1 74.25 74.35 74.45 74.55 75.4 76.1 76.7 77.65 79.85 82 82.85 84.25 84.35 84.45 84.55 84.65 84.75 84.8 84.9 84.95 85.1 85.2 85.3 85.4 85.5 85.6 85.7 85.8 85.9 86 86.1 86.2 86.3 86.4 86.45 86.55 86.65 86.75 86.8 86.9 87 87.15 87.25 87.3 87.4 87.5 87.6 87.7 87.75 87.85 87.95 88 88.1 88.25 88.35 88.45 88.55 88.65 88.75 88.85 88.95 89.05 89.15 89.25 89.35 89.5 89.6 89.75 89.85 89.95 90.05 90.15 90.75 92.4 92.5 92.6 92.7 94.45 97.25 98.1 99.3 99.4 99.5 99.55 99.65 99.7 99.8 99.85 99.95 100.05 100.15 100.2 100.3 100.35 100.45 100.5 100.55 100.65 100.7 100.8 100.85 100.95 101.05 101.15 101.2 101.25 101.35 101.4 101.5 101.55 101.65 101.7 101.75 101.85 101.9 102 102.05 102.15 102.2 102.3 102.35 102.45 102.5 102.6 102.65 102.7 102.8 102.85 102.95 103.05 103.1 103.2 103.25 103.35 103.4 103.5 103.55 103.65 103.7 103.75 103.85 103.95 104.05 104.1 104.2 104.25 104.3 104.4 104.45 104.55 104.6 104.7 104.75 104.85 104.95 105 105.1 105.15 105.25 105.3 105.4 105.45 105.55 105.6 105.65 105.75 105.85 105.95 106 106.05 106.15 106.2 106.3 106.35 106.45 106.5 106.6 106.65 106.75 106.85 106.9 107 107.05 107.15 107.2 107.3 107.35 107.45 107.5 107.6 107.7 107.75 107.85 107.9 107.95 108.05 108.1 108.2 108.25 108.3 108.4 108.45 108.55 108.65 108.7 108.8 108.85 108.95 109 109.1 109.15 109.25 109.3 109.35 109.45 109.55 109.65 109.7 109.8 109.85 109.9 110 110.05 110.15 110.2 110.3 110.35 110.45 110.55 110.6 110.7 110.75 110.8 110.9 110.95 111.05 111.1 111.2 111.25 111.35 111.45 111.5 111.6 111.65 111.75 111.8 111.9 111.95 112.05 112.1 112.2 112.25 112.35 112.4 112.5 112.55 112.65 112.7 112.75 112.85 112.9 113 113.1 113.15 113.2 113.3 113.4 113.45 113.55 113.6 113.65 113.75 113.8 113.9 113.95 114 114.1 114.2 114.25 114.35 114.4 114.5 114.6 114.65 114.75 114.85 114.9 114.95 115.05 115.1 115.2 115.3 115.35 115.4 115.5 115.6 115.65 115.75 115.8 115.9 116 116.05 116.1 116.2 116.3 116.4 116.5 116.55 116.6 116.7 116.8 116.85 116.95 117.05 117.1 117.15 117.25 117.35 117.45 117.5 117.6 117.65 117.75 117.85 117.9 117.95 118.05 118.15 118.25 118.35 118.4 118.5 122.65"
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6 changes: 3 additions & 3 deletions examples/SingleBeamDeployment.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -15,8 +15,8 @@
<DefaultVisualManagerLoop />

<Node name="EdgeTopology">
<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"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" nbEdgesCollis="30" nbEdgesVisu="196" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" 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 @@ -34,7 +34,7 @@
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" 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"
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6 changes: 3 additions & 3 deletions examples/SingleBeamDeploymentCollision.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -32,8 +32,8 @@


<Node name="EdgeTopology">
<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"/>
<RodStraightSection name="StraightSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" poissonRatio="0.3" nbEdgesCollis="50" nbEdgesVisu="200" length="980.0"/>
<RodSpireSection name="SpireSection" youngModulus="20000" radius="0.9" massDensity="0.00000155" 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 @@ -52,7 +52,7 @@
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" massDensity="0.00000155" interpolation="@BeamInterpolation"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" 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"
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