From fbdc1f078f6e9f933651cbc1f70b52314a2ca07b Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 29 Jun 2023 16:34:17 +0200 Subject: [PATCH 01/22] [WireRestShape] Remove optiond releaseWire or brokenIn2 --- .../component/engine/WireRestShape.h | 13 +++-- .../component/engine/WireRestShape.inl | 58 +------------------ 2 files changed, 9 insertions(+), 62 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index 34598fcc1..819e80548 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -91,7 +91,10 @@ class WireRestShape : public core::objectmodel::BaseObject /////////////////////////// Methods of WireRestShape ////////////////////////////////////////// /// For coils: a part of the coil instrument can be brokenIn2 (by default the point of release is the end of the straight length) - Real getReleaseCurvAbs() const {return d_straightLength.getValue();} + Real getReleaseCurvAbs() const { + msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; + return 0.0; + } /// This function is called by the force field to evaluate the rest position of each beam void getRestTransformOnX(Transform &global_H_local, const Real &x); @@ -121,10 +124,9 @@ class WireRestShape : public core::objectmodel::BaseObject void getCollisionSampling(Real &dx, const Real &x_curv) ; void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ; - //TODO(dmarchal 2017-05-17) Please specify who and when it will be done either a time after wich - //we can remove the todo. - // todo => topological change ! - void releaseWirePart(); + void releaseWirePart() { + msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; + } void rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output); @@ -157,7 +159,6 @@ class WireRestShape : public core::objectmodel::BaseObject Data d_massDensity2; /// broken in 2 case - Data d_brokenIn2; Data d_drawRestShape; private: diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index c2c89726c..3a158cf10 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -79,7 +79,6 @@ WireRestShape::WireRestShape() : , d_innerRadius2(initData(&d_innerRadius2,(Real)0.0f,"innerRadiusExtremity","inner radius for beams at the extremity\nonly if not straight")) , d_massDensity1(initData(&d_massDensity1,(Real)1.0,"massDensity", "Density of the mass (usually in kg/m^3)" )) , d_massDensity2(initData(&d_massDensity2,(Real)1.0,"massDensityExtremity", "Density of the mass at the extremity\nonly if not straight" )) - , d_brokenIn2(initData(&d_brokenIn2, (bool)false, "brokenIn2", "")) , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) , l_topology(initLink("topology", "link to the topology container")) , l_loader(initLink("loader", "link to the MeshLoader")) @@ -272,65 +271,12 @@ void WireRestShape::init() } -template -void WireRestShape::releaseWirePart(){ - - d_brokenIn2.setValue(true); - - if ( edgeMod == nullptr ) - { - msg_error() << "no edgeSetModifier in the node -> cannot do the topological change"; - return; - } - ///////// remove the edge that is cut ////// - for ( sofa::Size i=0; i<_topology->getNbPoints(); i++) - { - if( _topology->getPX(i) > this->getReleaseCurvAbs() + EPSILON ) - { - type::vector edge_remove; - edge_remove.push_back( i-1 ); - - msg_info() << "releaseWirePart() -> remove edge number "<< i ; - - edgeMod->removeEdges(edge_remove,false); // remove the single edge and do not remove any point... - - msg_info() << "WireRestShape _topology name="<<_topology->getName()<<" - numEdges ="<<_topology->getNbEdges() ; - - return; - } - } - - dmsg_info() <<" Wire Part is brokenIn2... should implement a topo change !" ; -} - - template void WireRestShape::getSamplingParameters(type::vector& xP_noticeable, type::vector& nbP_density) const { - - xP_noticeable.clear(); - nbP_density.clear(); - - if (d_brokenIn2.getValue()) - { - for (unsigned int i=0; i getReleaseCurvAbs() ) - break; - xP_noticeable.push_back(x); - nbP_density.push_back(d_density.getValue()[i]); - } - xP_noticeable.push_back( getReleaseCurvAbs()); - - dmsg_info() <<"getSamplingParameters brokenIn2 detected - return xP_noticeable ="<, TopologyContainer, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; /// Pointer to the topology container, should be set using @sa l_topology, otherwise will search for one in current Node. TopologyContainer* _topology{ nullptr }; - /// Pointer to the topology modifier. Will be set at init by searching one in @sa _topology context. - EdgeSetTopologyModifier* edgeMod{ nullptr }; /// Link to be set to the topology container in the component graph. SingleLink, MeshLoader, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_loader; diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 559abdee1..bd3f5706d 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -34,7 +34,6 @@ #include #include -#include #include #include @@ -187,16 +186,7 @@ void WireRestShape::init() return; } } - - // Get pointer to the topology Modifier (for topological changes) - _topology->getContext()->get(edgeMod); - - if (edgeMod == nullptr) - { - msg_warning() << "No EdgeSetTopologyModifier found in the same node as the topology container: " << _topology->getName() << ". This wire won't support topological changes."; - } - - + //////////////////////////////////////////////////////// ////////// keyPoint list and Density Assignement /////// @@ -720,10 +710,7 @@ void WireRestShape::getRestPosNonProcedural(Real& abs, Coord &p) template typename WireRestShape::Real WireRestShape::getLength() { - if(d_brokenIn2.getValue()) - return d_straightLength.getValue(); - else - return d_length.getValue(); + return d_length.getValue(); } template From 27fa7d4a55258dbc2334281ec892f5cabdf3545d Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 19 Oct 2023 21:55:33 +0200 Subject: [PATCH 04/22] Fix tests --- BeamAdapter_test/component/model/WireRestShape_test.cpp | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/BeamAdapter_test/component/model/WireRestShape_test.cpp b/BeamAdapter_test/component/model/WireRestShape_test.cpp index ef7eec3c7..0e81d0a0b 100644 --- a/BeamAdapter_test/component/model/WireRestShape_test.cpp +++ b/BeamAdapter_test/component/model/WireRestShape_test.cpp @@ -159,9 +159,7 @@ void WireRestShape_test::testParameterInit() Real fullLength = wire->getLength(); EXPECT_EQ(fullLength, 100.0); - Real straightLength = wire->getReleaseCurvAbs(); - EXPECT_EQ(straightLength, 95.0); - + Real straightLength = 95.0; vector keysPoints, keysPoints_ref = { 0, straightLength, fullLength }; Real ratio = straightLength / fullLength; vector nbP_density, nbP_density_ref = { int(floor(5.0 * ratio)), int(floor(20.0 * (1 - ratio))) }; @@ -243,7 +241,7 @@ void WireRestShape_test::testTransformMethods() EXPECT_NE(wire, nullptr); Real fullLength = wire->getLength(); - Real straightLength = wire->getReleaseCurvAbs(); + Real straightLength = 95.0; Real middHook = (fullLength + straightLength) / 2; Transform transfo_0, transfo_1, transfo_2, transfo_3; From 626b5b1cdbe5b59ed0e5ccc141c58b018aecf315 Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 4 Oct 2022 15:17:29 +0200 Subject: [PATCH 05/22] [doc] Add some comments --- src/BeamAdapter/component/engine/WireRestShape.h | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index 5caa80d12..9905a6969 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -51,8 +51,9 @@ using sofa::core::loader::MeshLoader; /** * \class WireRestShape * \brief Describe the shape functions on multiple segments - * - * Describe the shape functions on multiple segments using curvilinear abscissa + * + * Describe the full shape of a Wire with a given length and radius. The wire is discretized by a set of beams (given by the keyPoints and the relatives Beam density) + * This component compute the beam discretization and the shape functions on multiple segments using curvilinear abscissa. */ template class WireRestShape : public core::objectmodel::BaseObject From 8277457c67dd53ffc2625ad20f3a8365586a4881 Mon Sep 17 00:00:00 2001 From: epernod Date: Sat, 24 Sep 2022 00:33:18 +0200 Subject: [PATCH 06/22] Update WireREstShape to use the new WireMaterialSection links --- .../component/engine/WireRestShape.h | 27 ++---- .../component/engine/WireRestShape.inl | 97 +++---------------- 2 files changed, 21 insertions(+), 103 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index 9905a6969..f56ae56ef 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -34,6 +34,8 @@ #include #include +#include + #include #include #include @@ -48,6 +50,8 @@ namespace _wirerestshape_ using sofa::core::topology::TopologyContainer; using sofa::core::loader::MeshLoader; +using namespace sofa::beamadapter; + /** * \class WireRestShape * \brief Describe the shape functions on multiple segments @@ -144,23 +148,15 @@ class WireRestShape : public core::objectmodel::BaseObject Data< int > d_numEdges; Data > d_numEdgesCollis; - /// User Data about the Young modulus - Data d_poissonRatio; - Data d_youngModulus1; - Data d_youngModulus2; - - /// Radius - Data d_radius1; - Data d_radius2; - Data d_innerRadius1; - Data d_innerRadius2; - - Data d_massDensity1; - Data d_massDensity2; - /// broken in 2 case Data d_drawRestShape; + /// Link to be set to the topology container in the component graph. + SingleLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterial1; + + /// Link to be set to the topology container in the component graph. + SingleLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterial2; + private: /// Data required for the File loading type::vector m_localRestPositions; @@ -168,9 +164,6 @@ class WireRestShape : public core::objectmodel::BaseObject type::vector m_curvAbs ; double m_absOfGeometry {0}; - BeamSection beamSection1; - BeamSection beamSection2; - /// Link to be set to the topology container in the component graph. SingleLink, TopologyContainer, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; /// Pointer to the topology container, should be set using @sa l_topology, otherwise will search for one in current Node. diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index bd3f5706d..7e2058b6b 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -68,16 +68,9 @@ WireRestShape::WireRestShape() : , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) , d_numEdges(initData(&d_numEdges, 10, "numEdges","number of Edges for the visual model")) , d_numEdgesCollis(initData(&d_numEdgesCollis,"numEdgesCollis", "number of Edges for the collision model" )) - , d_poissonRatio(initData(&d_poissonRatio,(Real)0.49,"poissonRatio","Poisson Ratio")) - , d_youngModulus1(initData(&d_youngModulus1,(Real)5000,"youngModulus","Young Modulus")) - , d_youngModulus2(initData(&d_youngModulus2,(Real)3000,"youngModulusExtremity","youngModulus for beams at the extremity\nonly if not straight")) - , d_radius1(initData(&d_radius1,(Real)1.0f,"radius","radius")) - , d_radius2(initData(&d_radius2,(Real)1.0f,"radiusExtremity","radius for beams at the extremity\nonly if not straight")) - , d_innerRadius1(initData(&d_innerRadius1,(Real)0.0f,"innerRadius","inner radius if it applies")) - , d_innerRadius2(initData(&d_innerRadius2,(Real)0.0f,"innerRadiusExtremity","inner radius for beams at the extremity\nonly if not straight")) - , d_massDensity1(initData(&d_massDensity1,(Real)1.0,"massDensity", "Density of the mass (usually in kg/m^3)" )) - , d_massDensity2(initData(&d_massDensity2,(Real)1.0,"massDensityExtremity", "Density of the mass at the extremity\nonly if not straight" )) , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) + , l_sectionMaterial1(initLink("main_material", "link to the fist Wire Section Material")) + , l_sectionMaterial2(initLink("extremity_material", "link to the second Wire Section Material")) , l_topology(initLink("topology", "link to the topology container")) , l_loader(initLink("loader", "link to the MeshLoader")) { @@ -233,29 +226,6 @@ void WireRestShape::init() msg_info() <<"WireRestShape end init" ; - // Prepare beam sections - double r = this->d_radius1.getValue(); - double rInner = this->d_innerRadius1.getValue(); - this->beamSection1._r = r; - this->beamSection1._rInner = rInner; - this->beamSection1._Iz = M_PI*(r*r*r*r - rInner*rInner*rInner*rInner)/4.0; - this->beamSection1._Iy = this->beamSection1._Iz ; - this->beamSection1._J = this->beamSection1._Iz + this->beamSection1._Iy; - this->beamSection1._A = M_PI*(r*r - rInner*rInner); - this->beamSection1._Asy = 0.0; - this->beamSection1._Asz = 0.0; - - r = this->d_radius2.getValue(); - rInner = this->d_innerRadius2.getValue(); - this->beamSection2._r = r; - this->beamSection2._rInner = rInner; - this->beamSection2._Iz = M_PI*(r*r*r*r - rInner*rInner*rInner*rInner)/4.0; - this->beamSection2._Iy = this->beamSection2._Iz ; - this->beamSection2._J = this->beamSection2._Iz + this->beamSection2._Iy; - this->beamSection2._A = M_PI*(r*r - rInner*rInner); - this->beamSection2._Asy = 0.0; - this->beamSection2._Asz = 0.0; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } @@ -368,31 +338,11 @@ void WireRestShape::getRestTransformOnX(Transform &global_H_local, co template void WireRestShape::getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const { - //Initialization - Real _E1, _E2; - youngModulus = 0.0; - cPoisson = 0.0; - - //Get the two possible values of the Young modulus - _E1 = this->d_youngModulus1.getValue(); - _E2 = this->d_youngModulus2.getValue(); - - //Get User data - cPoisson = this->d_poissonRatio.getValue(); - //Depending on the position of the beam, determine the Young modulus - if(x_curv <= this->d_straightLength.getValue()) - { - youngModulus = _E1; - } + if (x_curv > this->d_straightLength.getValue() && l_sectionMaterial2.get()) // extremity of the wire + return l_sectionMaterial2.get()->getYoungModulusAtX(youngModulus, cPoisson); else - { - if(_E2 == 0.0) - youngModulus = _E1; - else - youngModulus = _E2; - } - return; + return l_sectionMaterial1.get()->getYoungModulusAtX(youngModulus, cPoisson); } @@ -401,43 +351,18 @@ void WireRestShape::getInterpolationParam(const Real& x_curv, Real &_ { if(x_curv <= this->d_straightLength.getValue()) { - if(d_massDensity1.isSet()) - _rho = d_massDensity1.getValue(); - - if(d_radius1.isSet()) - { - _A =beamSection1._A; - _Iy =beamSection1._Iy; - _Iz =beamSection1._Iz; - _Asy =beamSection1._Asy; - _Asz =beamSection1._Asz; - _J =beamSection1._J; - } + return l_sectionMaterial1.get()->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); } else { - if(d_massDensity2.isSet()) - _rho = d_massDensity2.getValue(); - else if(d_massDensity1.isSet()) - _rho = d_massDensity1.getValue(); - - if(d_radius2.isSet()) + auto mat = l_sectionMaterial2.get(); + if (mat) { - _A =beamSection2._A; - _Iy =beamSection2._Iy; - _Iz =beamSection2._Iz; - _Asy =beamSection2._Asy; - _Asz =beamSection2._Asz; - _J =beamSection2._J; + return mat->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); } - else if(d_radius1.isSet()) + else { - _A =beamSection1._A; - _Iy =beamSection1._Iy; - _Iz =beamSection1._Iz; - _Asy =beamSection1._Asy; - _Asz =beamSection1._Asz; - _J =beamSection1._J; + return l_sectionMaterial1.get()->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); } } } From 13bda922b3eab56ad3073e94cc95e8a52b3b4eb3 Mon Sep 17 00:00:00 2001 From: epernod Date: Mon, 26 Sep 2022 09:15:47 +0200 Subject: [PATCH 07/22] Add check on BeamMAterial section --- src/BeamAdapter/component/engine/WireRestShape.inl | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 7e2058b6b..eb5dc0f4f 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -170,6 +170,13 @@ void WireRestShape::init() initFromLoader(); } } + if (!l_sectionMaterial1.get()) + { + msg_error() << "No WireSectionMaterial set. At least one material should be set and link using main_material"; + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; + } + else { if (!fillTopology()) From dfebce317ac7c9ed5313c78f4c9fb04bf073acd4 Mon Sep 17 00:00:00 2001 From: epernod Date: Sun, 2 Oct 2022 01:35:37 +0200 Subject: [PATCH 08/22] [src] Move numEdges and numEdgesCollision into WireSectionMaterial --- .../component/engine/WireRestShape.h | 5 +- .../component/engine/WireRestShape.inl | 114 +++++++++++++----- 2 files changed, 87 insertions(+), 32 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index f56ae56ef..d15e76b70 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -86,7 +86,8 @@ class WireRestShape : public core::objectmodel::BaseObject /////////////////////////// Inherited from BaseObject ////////////////////////////////////////// void parse(core::objectmodel::BaseObjectDescription* arg) override; void init() override ; - + void initTopology(); + void draw(const core::visual::VisualParams * vparams) override ; @@ -145,8 +146,6 @@ class WireRestShape : public core::objectmodel::BaseObject Data d_spireHeight; Data > d_density; Data > d_keyPoints; - Data< int > d_numEdges; - Data > d_numEdgesCollis; /// broken in 2 case Data d_drawRestShape; diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index eb5dc0f4f..9d70d10f2 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -66,8 +66,6 @@ WireRestShape::WireRestShape() : , d_spireHeight(initData(&d_spireHeight, (Real)0.01, "spireHeight", "height between each spire")) , d_density(initData(&d_density, "densityOfBeams", "density of beams between key points")) , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) - , d_numEdges(initData(&d_numEdges, 10, "numEdges","number of Edges for the visual model")) - , d_numEdgesCollis(initData(&d_numEdgesCollis,"numEdgesCollis", "number of Edges for the collision model" )) , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) , l_sectionMaterial1(initLink("main_material", "link to the fist Wire Section Material")) , l_sectionMaterial2(initLink("extremity_material", "link to the second Wire Section Material")) @@ -187,6 +185,7 @@ void WireRestShape::init() } } + initTopology(); //////////////////////////////////////////////////////// ////////// keyPoint list and Density Assignement /////// @@ -223,20 +222,62 @@ void WireRestShape::init() } } - if(!d_numEdgesCollis.getValue().size()) - { - auto densityCol = sofa::helper::getWriteOnlyAccessor(d_numEdgesCollis); - densityCol.resize(keyPointList.size()-1); - for (unsigned int i=0; id_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); } +template +void WireRestShape::initTopology() +{ + /// fill topology : + _topology->clear(); + _topology->cleanup(); + + const Real& fullLength = this->d_length.getValue(); + const Real& straightLength = this->d_straightLength.getValue(); + + // Add topology of the first material + WireSectionMaterial* mat1 = l_sectionMaterial1.get(); + int nbrEdges1 = mat1->getNbVisualEdges(); + Real dx1 = straightLength / nbrEdges1; + + /// add points from main material + for (int i = 0; i < nbrEdges1 + 1; i++) { + _topology->addPoint(i * dx1, 0, 0); + //std::cout << "1. addPoint: " << i << " -> " << i * dx1 << std::endl; + } + + /// add segments from main material + for (int i = 0; i < nbrEdges1; i++) { + _topology->addEdge(i, i + 1); + //std::cout << "1. addEdge: " << i << " - " << i + 1 << std::endl; + } + + + // Add topology of the second material + if (WireSectionMaterial* mat2 = l_sectionMaterial2.get()) + { + Real lengthExtremity = fullLength - straightLength; + int nbrEdges2 = mat2->getNbVisualEdges(); + Real dx2 = lengthExtremity / nbrEdges2; + + /// add points from main material + for (int i = 1; i < nbrEdges2 + 1; i++) { + _topology->addPoint(straightLength + i * dx2, 0, 0); + //std::cout << "2. addPoint: " << i + nbrEdges1 << " -> " << straightLength + i * dx2 << std::endl; + } + + /// add segments from main material + for (int i = nbrEdges1; i < nbrEdges1 + nbrEdges2; i++) { + _topology->addEdge(i, i + 1); + //std::cout << "2. addEdge: " << i << " - " << i + 1 << std::endl; + } + } +} + + template void WireRestShape::getSamplingParameters(type::vector& xP_noticeable, type::vector& nbP_density) const @@ -257,27 +298,41 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv x_used=0.0; // verify that size of numEdgesCollis = size of keyPoints-1 - if( d_numEdgesCollis.getValue().size() != d_keyPoints.getValue().size()-1) + //if( d_numEdgesCollis.getValue().size() != d_keyPoints.getValue().size()-1) + //{ + // msg_error() << "Problem size of numEdgesCollis ()" << d_numEdgesCollis.getValue().size() + // << " != size of keyPoints-1 " << d_keyPoints.getValue().size()-1 ; + // numLines = (unsigned int)d_numEdgesCollis.getValue()[0]; + // dx=d_length.getValue()/numLines; + // return; + //} + + if (x_used <= d_straightLength.getValue()) { - msg_error() << "Problem size of numEdgesCollis ()" << d_numEdgesCollis.getValue().size() << " != size of keyPoints-1 " << d_keyPoints.getValue().size()-1 ; - numLines = (unsigned int)d_numEdgesCollis.getValue()[0]; - dx=d_length.getValue()/numLines; - return; + numLines = l_sectionMaterial1.get()->getNbCollisionEdges(); + dx = d_straightLength.getValue() / numLines; } - - - for (unsigned int i=1; id_keyPoints.getValue().size(); i++) + else if (x_used <= d_length.getValue()) { - if( x_used < this->d_keyPoints.getValue()[i] ) - { - numLines = (unsigned int)d_numEdgesCollis.getValue()[i-1]; - dx=(this->d_keyPoints.getValue()[i] - this->d_keyPoints.getValue()[i-1])/numLines; - return; - } + numLines = l_sectionMaterial2.get()->getNbCollisionEdges(); + dx = d_length.getValue() / numLines; + } + else + { + dx = d_length.getValue() / 20; + msg_error() << " problem is getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); } - dx=d_length.getValue()/20; - msg_error() << " problem is getCollisionSampling : x_curv "<d_keyPoints.getValue().size(); i++) + //{ + // if( x_used < this->d_keyPoints.getValue()[i] ) + // { + // numLines = (unsigned int)d_numEdgesCollis.getValue()[i - 1]; + // dx = (this->d_keyPoints.getValue()[i] - this->d_keyPoints.getValue()[i - 1]) / numLines; + // return; + // } + //} + } @@ -648,10 +703,11 @@ typename WireRestShape::Real WireRestShape::getLength() template void WireRestShape::getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) { - numLines = 0; - for (unsigned i=0; igetNbCollisionEdges(); + + if (auto mat2 = l_sectionMaterial2.get()) { - numLines += (unsigned int)d_numEdgesCollis.getValue()[i]; + numLines += mat2->getNbCollisionEdges(); } dx=d_length.getValue()/numLines; } From 5d0fbb17286e20f0328d507c577031d48794f351 Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 4 Oct 2022 11:30:25 +0200 Subject: [PATCH 09/22] [src] Update WireRestShape to use a vector of Links instead of hardcoded material1 and material2 --- .../component/engine/WireRestShape.h | 16 +- .../component/engine/WireRestShape.inl | 233 +++++++++--------- 2 files changed, 126 insertions(+), 123 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index d15e76b70..e19b7407b 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -86,7 +86,6 @@ class WireRestShape : public core::objectmodel::BaseObject /////////////////////////// Inherited from BaseObject ////////////////////////////////////////// void parse(core::objectmodel::BaseObjectDescription* arg) override; void init() override ; - void initTopology(); void draw(const core::visual::VisualParams * vparams) override ; @@ -123,6 +122,12 @@ class WireRestShape : public core::objectmodel::BaseObject void rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output); +protected: + /// Internal method to init Lengths vector @sa d_keyPoints if not set using @sa d_length and @sa d_straightLength. Returns false if init can't be performed. + bool initLengths(); + /// Internal method to init Edge Topology @sa _topology using the list of materials @sa l_sectionMaterials. Returns false if init can't be performed. + bool initTopology(); + /////////////////////////// Deprecated Methods ////////////////////////////////////////// @@ -149,12 +154,9 @@ class WireRestShape : public core::objectmodel::BaseObject /// broken in 2 case Data d_drawRestShape; - - /// Link to be set to the topology container in the component graph. - SingleLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterial1; - - /// Link to be set to the topology container in the component graph. - SingleLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterial2; + + /// Vector or links to the Wire section material. The order of the linked material will define the WireShape structure. + MultiLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; private: /// Data required for the File loading diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 9d70d10f2..e39baa61c 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -67,8 +67,7 @@ WireRestShape::WireRestShape() : , d_density(initData(&d_density, "densityOfBeams", "density of beams between key points")) , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) - , l_sectionMaterial1(initLink("main_material", "link to the fist Wire Section Material")) - , l_sectionMaterial2(initLink("extremity_material", "link to the second Wire Section Material")) + , l_sectionMaterials(initLink("wireMaterials", "link to Wire Section Materials (to be ordered according to the instrument, from handle to tip)")) , l_topology(initLink("topology", "link to the topology container")) , l_loader(initLink("loader", "link to the MeshLoader")) { @@ -168,9 +167,20 @@ void WireRestShape::init() initFromLoader(); } } - if (!l_sectionMaterial1.get()) + if (l_sectionMaterials.empty()) + { + msg_error() << "No WireSectionMaterial set. At least one material should be set and link using wireMaterials."; + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + return; + } + + + //////////////////////////////////////////////////////// + ////////// keyPoint list and Density Assignement /////// + //////////////////////////////////////////////////////// + + if (!initLengths()) { - msg_error() << "No WireSectionMaterial set. At least one material should be set and link using main_material"; this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } @@ -187,94 +197,92 @@ void WireRestShape::init() initTopology(); - //////////////////////////////////////////////////////// - ////////// keyPoint list and Density Assignement /////// - //////////////////////////////////////////////////////// + + this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); + msg_info() << "WireRestShape end init"; +} + + +template +bool WireRestShape::initLengths() +{ auto keyPointList = sofa::helper::getWriteOnlyAccessor(d_keyPoints); - if(!keyPointList.size()) + auto densityList = sofa::helper::getWriteOnlyAccessor(d_density); + + // In case use used length and straightLenght instead of keyPointList, create keyPointList + if (keyPointList.empty()) { keyPointList.push_back(0.0); - if(d_straightLength.getValue()>= 0.001*this->d_length.getValue() && d_straightLength.getValue() <= 0.999*d_length.getValue()) + if (d_straightLength.getValue() >= 0.001 * this->d_length.getValue() && d_straightLength.getValue() <= 0.999 * d_length.getValue()) keyPointList.push_back(d_straightLength.getValue()); keyPointList.push_back(d_length.getValue()); } - if( d_density.getValue().size() != keyPointList.size()-1) + // checking sizes between keypointList and number of input material + if (l_sectionMaterials.size() != keyPointList.size() - 1) { - auto densityList = sofa::helper::getWriteOnlyAccessor(d_density); + msg_error() << "Wrong number of inputs. Component can't be init. Number of input materials: " << l_sectionMaterials.size() << ", should be equal to keyPointList.size()-1. keyPointList.size() is equal to: " << keyPointList.size(); + return false; + } - if(densityList.size() > keyPointList.size()-1 ) - densityList.resize(keyPointList.size()-1); - else - { - densityList.clear(); + if (densityList.size() != keyPointList.size() - 1) + { + msg_warning() << "Wrong number of densityOfBeams. Given: " << densityList.size() << ", should be equal to keyPointList.size()-1: '" << keyPointList.size() + << "'. densityOfBeams will be recomputed using Wire material number of collision edges."; + densityList.clear(); - if(d_straightLength.getValue()>= 0.001*this->d_length.getValue() ) - { - int numNodes = (int) floor(5.0*d_straightLength.getValue() / d_length.getValue() ); - densityList.push_back(numNodes); - } - if( d_straightLength.getValue() <= 0.999*d_length.getValue()) - { - int numNodes = (int) floor(20.0*(1.0 - d_straightLength.getValue() / d_length.getValue()) ); - densityList.push_back(numNodes); - } + for (unsigned int i = 0; i < keyPointList.size() - 1; ++i) + { + auto mat = l_sectionMaterials.get(i); + int nbrCollEdges = mat->getNbCollisionEdges(); + densityList.push_back(nbrCollEdges); } } - msg_info() <<"WireRestShape end init" ; - - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); + return true; } template -void WireRestShape::initTopology() +bool WireRestShape::initTopology() { /// fill topology : _topology->clear(); _topology->cleanup(); - const Real& fullLength = this->d_length.getValue(); - const Real& straightLength = this->d_straightLength.getValue(); - - // Add topology of the first material - WireSectionMaterial* mat1 = l_sectionMaterial1.get(); - int nbrEdges1 = mat1->getNbVisualEdges(); - Real dx1 = straightLength / nbrEdges1; - - /// add points from main material - for (int i = 0; i < nbrEdges1 + 1; i++) { - _topology->addPoint(i * dx1, 0, 0); - //std::cout << "1. addPoint: " << i << " -> " << i * dx1 << std::endl; - } - - /// add segments from main material - for (int i = 0; i < nbrEdges1; i++) { - _topology->addEdge(i, i + 1); - //std::cout << "1. addEdge: " << i << " - " << i + 1 << std::endl; - } - - - // Add topology of the second material - if (WireSectionMaterial* mat2 = l_sectionMaterial2.get()) + const type::vector& keyPts = d_keyPoints.getValue(); + if (l_sectionMaterials.size() != keyPts.size() - 1) { - Real lengthExtremity = fullLength - straightLength; - int nbrEdges2 = mat2->getNbVisualEdges(); - Real dx2 = lengthExtremity / nbrEdges2; - - /// add points from main material - for (int i = 1; i < nbrEdges2 + 1; i++) { - _topology->addPoint(straightLength + i * dx2, 0, 0); - //std::cout << "2. addPoint: " << i + nbrEdges1 << " -> " << straightLength + i * dx2 << std::endl; + msg_error() << "Wrong number of inputs. Component can't be init. Number of input materials: " << l_sectionMaterials.size() << ", should be equal to keyPointList.size()-1. keyPointList.size() is equal to: " << keyPts.size(); + return false; + } + + Real prev_length = 0.0; + int prev_edges = 0; + int startPtId = 0; + for (auto i = 0; i < l_sectionMaterials.size(); ++i) + { + // Add topology of the material + int nbrVisuEdges = l_sectionMaterials.get(i)->getNbVisualEdges(); + Real length = fabs(keyPts[i + 1] - keyPts[i]); + Real dx = length / nbrVisuEdges; + + // add points from the material + for (int i = startPtId; i < nbrVisuEdges + 1; i++) { + _topology->addPoint(prev_length + i * dx, 0, 0); } - /// add segments from main material - for (int i = nbrEdges1; i < nbrEdges1 + nbrEdges2; i++) { + // add segments from the material + for (int i = prev_edges; i < prev_edges + nbrVisuEdges; i++) { _topology->addEdge(i, i + 1); - //std::cout << "2. addEdge: " << i << " - " << i + 1 << std::endl; } + + prev_length = length; + prev_edges = nbrVisuEdges; + startPtId = 1; // Assume the last point of mat[n] == first point of mat[n+1] } + + return true; } @@ -297,42 +305,34 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv if(x_used<0.0) x_used=0.0; - // verify that size of numEdgesCollis = size of keyPoints-1 - //if( d_numEdgesCollis.getValue().size() != d_keyPoints.getValue().size()-1) - //{ - // msg_error() << "Problem size of numEdgesCollis ()" << d_numEdgesCollis.getValue().size() - // << " != size of keyPoints-1 " << d_keyPoints.getValue().size()-1 ; - // numLines = (unsigned int)d_numEdgesCollis.getValue()[0]; - // dx=d_length.getValue()/numLines; - // return; - //} - - if (x_used <= d_straightLength.getValue()) - { - numLines = l_sectionMaterial1.get()->getNbCollisionEdges(); - dx = d_straightLength.getValue() / numLines; - } - else if (x_used <= d_length.getValue()) + const type::vector& keyPts = d_keyPoints.getValue(); + + // verify that size of number of materials == size of keyPoints-1 + if (l_sectionMaterials.size() != keyPts.size() - 1) { - numLines = l_sectionMaterial2.get()->getNbCollisionEdges(); + msg_error() << "Problem size of number of materials: " << l_sectionMaterials.size() + << " != size of keyPoints-1 " << keyPts.size()-1 + << ". Returning default values."; + numLines = 20; dx = d_length.getValue() / numLines; + return; } - else + + // Check in which section x_used belongs to and get access to this section material + for (auto i = 1; i< keyPts.size(); ++i) { - dx = d_length.getValue() / 20; - msg_error() << " problem is getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); + if (x_used <= keyPts[i]) + { + numLines = l_sectionMaterials.get(i-1)->getNbCollisionEdges(); + dx = d_straightLength.getValue() / numLines; + return; + } } - //for (unsigned int i=1; id_keyPoints.getValue().size(); i++) - //{ - // if( x_used < this->d_keyPoints.getValue()[i] ) - // { - // numLines = (unsigned int)d_numEdgesCollis.getValue()[i - 1]; - // dx = (this->d_keyPoints.getValue()[i] - this->d_keyPoints.getValue()[i - 1]) / numLines; - // return; - // } - //} - + // If x_used is out of bounds. Warn user and returns default value. + numLines = 20; + dx = d_length.getValue() / numLines; + msg_error() << " problem is getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); } @@ -400,35 +400,37 @@ void WireRestShape::getRestTransformOnX(Transform &global_H_local, co template void WireRestShape::getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const { - //Depending on the position of the beam, determine the Young modulus - if (x_curv > this->d_straightLength.getValue() && l_sectionMaterial2.get()) // extremity of the wire - return l_sectionMaterial2.get()->getYoungModulusAtX(youngModulus, cPoisson); - else - return l_sectionMaterial1.get()->getYoungModulusAtX(youngModulus, cPoisson); + const type::vector& keyPts = d_keyPoints.getValue(); + // Depending on the position of the beam, determine the corresponding section material and returning its Young modulus + for (auto i = 1; i < keyPts.size(); ++i) + { + if (x_curv <= keyPts[i]) + { + return l_sectionMaterials.get(i - 1)->getYoungModulusAtX(youngModulus, cPoisson); + } + } + + msg_error() << " problem in getYoungModulusAtX : x_curv " << x_curv << " is not between keyPoints" << keyPts; } template void WireRestShape::getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J) const { - if(x_curv <= this->d_straightLength.getValue()) + const type::vector& keyPts = d_keyPoints.getValue(); + // Check in which section x_used belongs to and get access to this section material + for (auto i = 1; i < keyPts.size(); ++i) { - return l_sectionMaterial1.get()->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); - } - else - { - auto mat = l_sectionMaterial2.get(); - if (mat) + if (x_curv <= keyPts[i]) { - return mat->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); - } - else - { - return l_sectionMaterial1.get()->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); + return l_sectionMaterials.get(i - 1)->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); } } + + msg_error() << " problem in getInterpolationParam : x_curv " << x_curv << " is not between keyPoints" << keyPts; } + template bool WireRestShape::checkTopology() { @@ -703,13 +705,12 @@ typename WireRestShape::Real WireRestShape::getLength() template void WireRestShape::getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) { - numLines = l_sectionMaterial1.get()->getNbCollisionEdges(); - - if (auto mat2 = l_sectionMaterial2.get()) + numLines = 0; + for (auto i = 0; i < l_sectionMaterials.size(); ++i) { - numLines += mat2->getNbCollisionEdges(); + numLines += l_sectionMaterials.get(i)->getNbCollisionEdges(); } - dx=d_length.getValue()/numLines; + dx = d_length.getValue() / numLines; } template From d6a1b6c75607204ff714ecf3c631f8eee0568bec Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 6 Oct 2022 00:25:07 +0200 Subject: [PATCH 10/22] [WireRestShape] Fix Collision edges sampling --- src/BeamAdapter/component/engine/WireRestShape.inl | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index e39baa61c..556a58def 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -324,7 +324,9 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv if (x_used <= keyPts[i]) { numLines = l_sectionMaterials.get(i-1)->getNbCollisionEdges(); - dx = d_straightLength.getValue() / numLines; + + Real length = fabs(keyPts[i] - keyPts[i-1]); + dx = length / numLines; return; } } From d55b3e2208ed06e9c78865cba04b723d89bc8882 Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 11 Oct 2022 14:05:48 +0200 Subject: [PATCH 11/22] [WRShape] Add epsilon on get youngModulus and interpolation --- src/BeamAdapter/component/engine/WireRestShape.inl | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 556a58def..628e9bcfb 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -38,7 +38,7 @@ #include #include -#define EPSILON 0.0000000001 +#define EPSILON 0.0001 #define VERIF 1 namespace sofa::component::engine @@ -402,11 +402,13 @@ void WireRestShape::getRestTransformOnX(Transform &global_H_local, co template void WireRestShape::getYoungModulusAtX(const Real& x_curv, Real& youngModulus, Real& cPoisson) const { + const Real x_used = x_curv - Real(EPSILON); const type::vector& keyPts = d_keyPoints.getValue(); + // Depending on the position of the beam, determine the corresponding section material and returning its Young modulus for (auto i = 1; i < keyPts.size(); ++i) { - if (x_curv <= keyPts[i]) + if (x_used <= keyPts[i]) { return l_sectionMaterials.get(i - 1)->getYoungModulusAtX(youngModulus, cPoisson); } @@ -419,11 +421,13 @@ void WireRestShape::getYoungModulusAtX(const Real& x_curv, Real& youn template void WireRestShape::getInterpolationParam(const Real& x_curv, Real &_rho, Real &_A, Real &_Iy , Real &_Iz, Real &_Asy, Real &_Asz, Real &_J) const { + const Real x_used = x_curv - Real(EPSILON); const type::vector& keyPts = d_keyPoints.getValue(); + // Check in which section x_used belongs to and get access to this section material for (auto i = 1; i < keyPts.size(); ++i) { - if (x_curv <= keyPts[i]) + if (x_used <= keyPts[i]) { return l_sectionMaterials.get(i - 1)->getInterpolationParam(_rho, _A, _Iy, _Iz, _Asy, _Asz, _J); } From 895fa0d0e5dc4a5a79d00b3b95ed711075d3c1b1 Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 27 Jun 2023 22:01:12 +0200 Subject: [PATCH 12/22] [WireSection] Update WireSectionMaterial to be templated --- src/BeamAdapter/component/engine/WireRestShape.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index e19b7407b..ba3c86e0b 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -156,7 +156,7 @@ class WireRestShape : public core::objectmodel::BaseObject Data d_drawRestShape; /// Vector or links to the Wire section material. The order of the linked material will define the WireShape structure. - MultiLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; + MultiLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; private: /// Data required for the File loading From 43a1e4fc8cba0f74ecdff6b2fb8b83f72d86a01c Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 19 Oct 2023 17:35:48 +0200 Subject: [PATCH 13/22] backup work on moving loader to material --- .../component/engine/WireRestShape.cpp | 2 +- .../component/engine/WireRestShape.h | 9 +- .../component/engine/WireRestShape.inl | 108 +++++++++--------- 3 files changed, 57 insertions(+), 62 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.cpp b/src/BeamAdapter/component/engine/WireRestShape.cpp index dacba394e..34572378a 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.cpp +++ b/src/BeamAdapter/component/engine/WireRestShape.cpp @@ -52,7 +52,7 @@ using namespace sofa::defaulttype; /// //////////////////////////////////////////////////////////////////////////////////////////////////// -static int WireRestShapeClass = core::RegisterObject("Describe the shape functions on multiple segments using curvilinear abscissa") +const int WireRestShapeClass = core::RegisterObject("Describe the shape functions on multiple segments using curvilinear abscissa") .add< WireRestShape >(true) ; diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index ba3c86e0b..ab22f391c 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -115,7 +115,7 @@ class WireRestShape : public core::objectmodel::BaseObject void initFromLoader(); bool checkTopology(); - [[nodiscard]] bool fillTopology(); + //[[nodiscard]] bool fillTopology(); Real getLength() ; void getCollisionSampling(Real &dx, const Real &x_curv) ; void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ; @@ -163,17 +163,12 @@ class WireRestShape : public core::objectmodel::BaseObject type::vector m_localRestPositions; type::vector m_localRestTransforms; type::vector m_curvAbs ; - double m_absOfGeometry {0}; + double m_absOfGeometry {0}; /// Link to be set to the topology container in the component graph. SingleLink, TopologyContainer, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; /// Pointer to the topology container, should be set using @sa l_topology, otherwise will search for one in current Node. TopologyContainer* _topology{ nullptr }; - - /// Link to be set to the topology container in the component graph. - SingleLink, MeshLoader, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_loader; - /// Pointer to the MeshLoader, should be set using @sa l_loader, otherwise will search for one in current Node. - MeshLoader* loader{ nullptr }; }; diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 628e9bcfb..471d0ed4f 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -185,15 +185,15 @@ void WireRestShape::init() return; } - else - { - if (!fillTopology()) - { - msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - } + //else + //{ + // if (!fillTopology()) + // { + // msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; + // this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + // return; + // } + //} initTopology(); @@ -474,45 +474,45 @@ bool WireRestShape::checkTopology() } -template -bool WireRestShape::fillTopology() -{ - if (!_topology) - { - msg_error() << "Topology is null"; - return false; - } - - const auto length = this->d_length.getValue(); - if (length <= Real(0.0)) - { - msg_error() << "Length is 0 (or negative), check if d_length has been given or computed."; - return false; - } - - int nbrEdges = d_numEdges.getValue(); - if (nbrEdges <= 0) - { - msg_warning() << "Number of edges has been set to an invalid value: " << nbrEdges << ". Value should be a positive integer. Setting to default value: 10"; - nbrEdges = 10; - } - - /// fill topology : - _topology->clear(); - _topology->cleanup(); - - Real dx = this->d_length.getValue() / nbrEdges; - - /// add points - for (int i = 0; i < d_numEdges.getValue() + 1; i++) - _topology->addPoint(i * dx, 0, 0); - - /// add segments - for (int i = 0; i < d_numEdges.getValue(); i++) - _topology->addEdge(i, i + 1); - - return true; -} +//template +//bool WireRestShape::fillTopology() +//{ +// if (!_topology) +// { +// msg_error() << "Topology is null"; +// return false; +// } +// +// const auto length = this->d_length.getValue(); +// if (length <= Real(0.0)) +// { +// msg_error() << "Length is 0 (or negative), check if d_length has been given or computed."; +// return false; +// } +// +// int nbrEdges = d_numEdges.getValue(); +// if (nbrEdges <= 0) +// { +// msg_warning() << "Number of edges has been set to an invalid value: " << nbrEdges << ". Value should be a positive integer. Setting to default value: 10"; +// nbrEdges = 10; +// } +// +// /// fill topology : +// _topology->clear(); +// _topology->cleanup(); +// +// Real dx = this->d_length.getValue() / nbrEdges; +// +// /// add points +// for (int i = 0; i < d_numEdges.getValue() + 1; i++) +// _topology->addPoint(i * dx, 0, 0); +// +// /// add segments +// for (int i = 0; i < d_numEdges.getValue(); i++) +// _topology->addEdge(i, i + 1); +// +// return true; +//} @@ -655,12 +655,12 @@ void WireRestShape::initRestConfig() msg_info() <<"Length of the loaded shape = "<< m_absOfGeometry << ", total length with straight length = " << newLength ; - if (!fillTopology()) - { - msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } + //if (!fillTopology()) + //{ + // msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; + // this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); + // return; + //} } From 6243a0dddcdad5e941b3d27f4d9fcc74cd00d969 Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 29 Jun 2023 12:08:15 +0200 Subject: [PATCH 14/22] Update WireRestShape to only use RodSectionMaterials --- .../component/engine/SteerableCatheter.h | 7 +- .../component/engine/WireRestShape.h | 35 +- .../component/engine/WireRestShape.inl | 502 ++---------------- 3 files changed, 54 insertions(+), 490 deletions(-) diff --git a/src/BeamAdapter/component/engine/SteerableCatheter.h b/src/BeamAdapter/component/engine/SteerableCatheter.h index 17ceebb98..27819a66a 100644 --- a/src/BeamAdapter/component/engine/SteerableCatheter.h +++ b/src/BeamAdapter/component/engine/SteerableCatheter.h @@ -104,9 +104,10 @@ class SteerableCatheter : public WireRestShape /// Bring inherited attributes and function in the current lookup context. /// otherwise any access to the base::attribute would require /// the "this->" approach. - using Inherit1::d_spireDiameter; - using Inherit1::d_length; - using Inherit1::d_straightLength; + Data d_length; + Data d_straightLength; + Data d_spireDiameter; + Data d_spireHeight; /////////////////////////////////////////////////////////////////////////// }; diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index ab22f391c..f646133ac 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -34,7 +34,7 @@ #include #include -#include +#include #include #include @@ -72,7 +72,7 @@ class WireRestShape : public core::objectmodel::BaseObject using Quat = sofa::type::Quat; using BeamSection = sofa::beamadapter::BeamSection; - + /** * @brief Default Constructor. */ @@ -84,11 +84,8 @@ class WireRestShape : public core::objectmodel::BaseObject virtual ~WireRestShape() = default; /////////////////////////// Inherited from BaseObject ////////////////////////////////////////// - void parse(core::objectmodel::BaseObjectDescription* arg) override; void init() override ; - void draw(const core::visual::VisualParams * vparams) override ; - /////////////////////////// Methods of WireRestShape ////////////////////////////////////////// @@ -109,19 +106,14 @@ class WireRestShape : public core::objectmodel::BaseObject /// Functions enabling to load and use a geometry given from OBJ external file - void initRestConfig(); - void getRestPosNonProcedural(Real& abs, Coord &p); void computeOrientation(const Vec3& AB, const Quat& Q, Quat &result); - void initFromLoader(); - bool checkTopology(); + //[[nodiscard]] bool fillTopology(); Real getLength() ; - void getCollisionSampling(Real &dx, const Real &x_curv) ; + void getCollisionSampling(Real &dx, const Real &x_curv); void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ; - void rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output); - protected: /// Internal method to init Lengths vector @sa d_keyPoints if not set using @sa d_length and @sa d_straightLength. Returns false if init can't be performed. bool initLengths(); @@ -142,13 +134,6 @@ class WireRestShape : public core::objectmodel::BaseObject } public: - /// Analitical creation of wire shape... - Data d_isAProceduralShape; - Data d_nonProceduralScale; - Data d_length; - Data d_straightLength; - Data d_spireDiameter; - Data d_spireHeight; Data > d_density; Data > d_keyPoints; @@ -156,15 +141,9 @@ class WireRestShape : public core::objectmodel::BaseObject Data d_drawRestShape; /// Vector or links to the Wire section material. The order of the linked material will define the WireShape structure. - MultiLink, WireSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; - -private: - /// Data required for the File loading - type::vector m_localRestPositions; - type::vector m_localRestTransforms; - type::vector m_curvAbs ; - double m_absOfGeometry {0}; - + MultiLink, BaseRodSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; + +private: /// Link to be set to the topology container in the component graph. SingleLink, TopologyContainer, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_topology; /// Pointer to the topology container, should be set using @sa l_topology, otherwise will search for one in current Node. diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 471d0ed4f..e66f78fc2 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -55,72 +55,16 @@ using sofa::core::objectmodel::BaseContext ; * @brief Default Constructor. */ template -WireRestShape::WireRestShape() : - //TODO(dmarchal 2017-05-17) not sure that procedural & nonProceduralScale are very understandable name...are they exclusives ? - //if so have look in my comment in the init section. - d_isAProceduralShape( initData(&d_isAProceduralShape,(bool)true,"isAProceduralShape","is the guidewire shape mathemetically defined ?") ) - , d_nonProceduralScale( initData ( &d_nonProceduralScale, (Real)1.0, "nonProceduralScale", "scale of the model defined by file" ) ) - , d_length(initData(&d_length, (Real)1.0, "length", "total length of the wire instrument")) - , d_straightLength(initData(&d_straightLength, (Real)0.0, "straightLength", "length of the initial straight shape")) - , d_spireDiameter(initData(&d_spireDiameter, (Real)0.1, "spireDiameter", "diameter of the spire")) - , d_spireHeight(initData(&d_spireHeight, (Real)0.01, "spireHeight", "height between each spire")) - , d_density(initData(&d_density, "densityOfBeams", "density of beams between key points")) - , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) - , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) - , l_sectionMaterials(initLink("wireMaterials", "link to Wire Section Materials (to be ordered according to the instrument, from handle to tip)")) - , l_topology(initLink("topology", "link to the topology container")) - , l_loader(initLink("loader", "link to the MeshLoader")) +WireRestShape::WireRestShape() + : d_density(initData(&d_density, "densityOfBeams", "density of beams between key points")) + , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) + , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) + , l_sectionMaterials(initLink("wireMaterials", "link to Wire Section Materials (to be ordered according to the instrument, from handle to tip)")) + , l_topology(initLink("topology", "link to the topology container")) { - d_spireDiameter.setGroup("Procedural"); - d_spireHeight.setGroup("Procedural"); -} - -template -void WireRestShape::rotateFrameForAlignX(const Quat &input, Vec3 &x, Quat &output) -{ - x.normalize(); - Vec3 x0=input.inverseRotate(x); - - Real cTheta=x0[0]; - Real theta; - if (cTheta>(1-EPSILON)) - { - output = input; - } - else - { - theta=acos(cTheta); - // axis of rotation - Vec3 dw(0,-x0[2],x0[1]); - dw.normalize(); - // computation of the rotation - Quat inputRoutput; - inputRoutput.axisToQuat(dw, theta); - - output=input*inputRoutput; - } } -template -void WireRestShape::parse(core::objectmodel::BaseObjectDescription* args) -{ - const char* arg = args->getAttribute("procedural") ; - if(arg) - { - msg_warning() << "The attribute 'procedural' has been renamed into 'isAProceduralShape'. " << msgendl - << "To remove this warning you need to update your scene and replace 'procedural' with 'isAProceduralShape'" ; - - /// As arg is owned by the "procedural" attribute it cannot be removed before - /// being copied in the "isAProceduralShape". So please keep the ordering of the - /// two following functions. - args->setAttribute("isAProceduralShape", arg) ; - args->removeAttribute("procedural") ; - - } - - Inherit1::parse(args) ; -} template void WireRestShape::init() @@ -148,28 +92,9 @@ void WireRestShape::init() return; } - if (!d_isAProceduralShape.getValue()) - { - // Get meshLoader, check first if loader has been set using link. Otherwise will search in current context. - loader = l_loader.get(); - - if (!loader) - this->getContext()->get(loader); - - if (!loader) { - msg_error() << "Cannot find a mesh loader. Please insert a MeshObjLoader in the same node or use l_loader to specify the path in the scene graph."; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - else - { - msg_info() << "Found a mesh with " << loader->d_edges.getValue().size() << " edges"; - initFromLoader(); - } - } if (l_sectionMaterials.empty()) { - msg_error() << "No WireSectionMaterial set. At least one material should be set and link using wireMaterials."; + msg_error() << "No BaseRodSectionMaterial set. At least one material should be set and link using wireMaterials."; this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); return; } @@ -185,15 +110,6 @@ void WireRestShape::init() return; } - //else - //{ - // if (!fillTopology()) - // { - // msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; - // this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - // return; - // } - //} initTopology(); @@ -209,34 +125,16 @@ bool WireRestShape::initLengths() auto keyPointList = sofa::helper::getWriteOnlyAccessor(d_keyPoints); auto densityList = sofa::helper::getWriteOnlyAccessor(d_density); - // In case use used length and straightLenght instead of keyPointList, create keyPointList - if (keyPointList.empty()) - { - keyPointList.push_back(0.0); - if (d_straightLength.getValue() >= 0.001 * this->d_length.getValue() && d_straightLength.getValue() <= 0.999 * d_length.getValue()) - keyPointList.push_back(d_straightLength.getValue()); - keyPointList.push_back(d_length.getValue()); - } + keyPointList.resize(l_sectionMaterials.size() + 1); + keyPointList[0] = Real(0.0); - // checking sizes between keypointList and number of input material - if (l_sectionMaterials.size() != keyPointList.size() - 1) - { - msg_error() << "Wrong number of inputs. Component can't be init. Number of input materials: " << l_sectionMaterials.size() << ", should be equal to keyPointList.size()-1. keyPointList.size() is equal to: " << keyPointList.size(); - return false; - } - - if (densityList.size() != keyPointList.size() - 1) + densityList.resize(l_sectionMaterials.size()); + + for (unsigned int i = 0; i < l_sectionMaterials.size(); ++i) { - msg_warning() << "Wrong number of densityOfBeams. Given: " << densityList.size() << ", should be equal to keyPointList.size()-1: '" << keyPointList.size() - << "'. densityOfBeams will be recomputed using Wire material number of collision edges."; - densityList.clear(); - - for (unsigned int i = 0; i < keyPointList.size() - 1; ++i) - { - auto mat = l_sectionMaterials.get(i); - int nbrCollEdges = mat->getNbCollisionEdges(); - densityList.push_back(nbrCollEdges); - } + auto rodSection = l_sectionMaterials.get(i); + keyPointList[i+1] = keyPointList[i] + rodSection->getLength(); + densityList[i] = rodSection->getNbCollisionEdges(); } return true; @@ -294,16 +192,20 @@ void WireRestShape::getSamplingParameters(type::vector& xP_noti nbP_density = d_density.getValue(); } + template void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv) { unsigned int numLines; Real x_used = x_curv - EPSILON; - if(x_used>d_length.getValue()) - x_used=d_length.getValue(); - if(x_used<0.0) - x_used=0.0; + const Real totalLength = this->getLength(); + if (x_used > totalLength) { + x_used = totalLength; + } + else if (x_used < 0.0) { + x_used = 0.0; + } const type::vector& keyPts = d_keyPoints.getValue(); @@ -314,7 +216,7 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv << " != size of keyPoints-1 " << keyPts.size()-1 << ". Returning default values."; numLines = 20; - dx = d_length.getValue() / numLines; + dx = totalLength / numLines; return; } @@ -333,7 +235,7 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv // If x_used is out of bounds. Warn user and returns default value. numLines = 20; - dx = d_length.getValue() / numLines; + dx = totalLength / numLines; msg_error() << " problem is getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); } @@ -343,59 +245,24 @@ void WireRestShape::getRestTransformOnX(Transform &global_H_local, co { Real x_used = x - EPSILON; - if(x_used>d_length.getValue()) - x_used=d_length.getValue(); - - if(x_used<0.0) - x_used=0.0; - - if( x_used < d_straightLength.getValue()) - { - global_H_local.set(Vec3(x_used, 0.0, 0.0 ), Quat()); - return; + const Real totalLength = this->getLength(); + if (x_used > totalLength) { + x_used = totalLength; } - - if(d_isAProceduralShape.getValue()) - { - Real projetedLength = d_spireDiameter.getValue()*M_PI; - Real lengthSpire=sqrt(d_spireHeight.getValue()*d_spireHeight.getValue() + projetedLength*projetedLength ); - // angle in the z direction - Real phi= atan(d_spireHeight.getValue()/projetedLength); - - Quat Qphi; - Qphi.axisToQuat(Vec3(0,0,1),phi); - - // spire angle (if theta=2*PI, there is a complete spire between startx and x_used) - Real lengthCurve= x_used-d_straightLength.getValue(); - Real numSpire=lengthCurve/lengthSpire; - Real theta= 2*M_PI*numSpire; - - // computation of the Quat - Quat Qtheta; - Qtheta.axisToQuat(Vec3(0,1,0),theta); - Quat newSpireQuat = Qtheta*Qphi; - - - // computation of the position - Real radius=d_spireDiameter.getValue()/2.0; - Vec3 PosEndCurve(radius*sin(theta), numSpire*d_spireHeight.getValue(), radius*(cos(theta)-1) ); - Vec3 SpirePos=PosEndCurve + Vec3(d_straightLength.getValue(),0,0); - - global_H_local.set(SpirePos,newSpireQuat); + else if (x_used < 0.0) { + x_used = 0.0; } - else + + const type::vector& keyPts = d_keyPoints.getValue(); + for (auto i = 1; i < keyPts.size(); ++i) { - x_used = x_used - d_straightLength.getValue(); - x_used = x_used/(d_length.getValue()-d_straightLength.getValue()) * m_absOfGeometry; - - Coord p; - this->getRestPosNonProcedural(x_used,p); - Vec3 PosEndCurve = p.getCenter(); - Quat ExtremityQuat = p.getOrientation(); - Vec3 ExtremityPos = PosEndCurve + Vec3(d_straightLength.getValue(),0,0); - - global_H_local.set(ExtremityPos,ExtremityQuat); + if (x_used <= keyPts[i]) + { + return l_sectionMaterials.get(i - 1)->getRestTransformOnX(global_H_local, x_used, keyPts[i - 1]); + } } + + msg_warning() << "You should not be still here"; } @@ -437,277 +304,13 @@ void WireRestShape::getInterpolationParam(const Real& x_curv, Real &_ } -template -bool WireRestShape::checkTopology() -{ - if (!loader->d_edges.getValue().size()) - { - msg_error() << "There is no edges in the topology loaded by " << loader->getName() ; - return false; - } - - if (loader->d_triangles.getValue().size()) - { - msg_error() << "There are triangles in the topology loaded by " << loader->getName() ; - return false; - } - - if (loader->d_quads.getValue().size()) - { - msg_error() << "There are quads in the topology loaded by " << loader->getName() ; - return false; - } - - if (loader->d_polygons.getValue().size()) - { - msg_error() << "There are polygons in the topology loaded by " << loader->getName() ; - return false; - } - - //TODO(dmarchal 2017-05-17) when writing a TODO please specify: - // who will do that - // when it will be done - /// \todo check if the topology is like a wire - - - return true; -} - - -//template -//bool WireRestShape::fillTopology() -//{ -// if (!_topology) -// { -// msg_error() << "Topology is null"; -// return false; -// } -// -// const auto length = this->d_length.getValue(); -// if (length <= Real(0.0)) -// { -// msg_error() << "Length is 0 (or negative), check if d_length has been given or computed."; -// return false; -// } -// -// int nbrEdges = d_numEdges.getValue(); -// if (nbrEdges <= 0) -// { -// msg_warning() << "Number of edges has been set to an invalid value: " << nbrEdges << ". Value should be a positive integer. Setting to default value: 10"; -// nbrEdges = 10; -// } -// -// /// fill topology : -// _topology->clear(); -// _topology->cleanup(); -// -// Real dx = this->d_length.getValue() / nbrEdges; -// -// /// add points -// for (int i = 0; i < d_numEdges.getValue() + 1; i++) -// _topology->addPoint(i * dx, 0, 0); -// -// /// add segments -// for (int i = 0; i < d_numEdges.getValue(); i++) -// _topology->addEdge(i, i + 1); -// -// return true; -//} - - - -template -void WireRestShape::initFromLoader() -{ - if (!checkTopology()) - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - - // this is... dirty but d_straightLength itself is not relevant for loader-created wire - // but the code uses it actively and expects it to not be zero. - if (d_straightLength.getValue() <= 0.0) - { - msg_warning() << "straightLength cannot be 0 (or negative...). Setting a minimum value."; - d_straightLength.setValue(0.0001); - } - - type::vector vertices; - sofa::core::topology::BaseMeshTopology::SeqEdges edges; - - //get the topology position - auto topoVertices = sofa::helper::getReadAccessor(loader->d_positions); - - //copy the topology edges in a local vector - auto topoEdges = sofa::helper::getReadAccessor(loader->d_edges); - edges = topoEdges.ref(); - - /** renumber the vertices **/ - type::vector verticesConnexion; //gives the number of edges connected to a vertex - for(unsigned int i =0; i < topoVertices.size(); i++) - verticesConnexion.push_back(2); - - for(const auto& ed : edges) - { - verticesConnexion[ed[0]]--; - verticesConnexion[ed[1]]--; - } - - msg_info() << "Successfully compute the vertex connexion" ; - - // check for the first corner of the edge - unsigned int firstIndex = 0; - bool found = false; - while((firstIndex < verticesConnexion.size()) && !found) - { - if(verticesConnexion[firstIndex] == 1) - found = true; - else - firstIndex++; - } - - if(firstIndex == verticesConnexion.size()) - { - msg_error() << "The first vertex of the beam structure is not found, probably because of a closed structure" ; - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } - - vertices.push_back(topoVertices[firstIndex]); - - while(edges.size() > 0) - { - auto it = edges.begin(); - auto end = edges.end(); - - bool notFound = true; - while (notFound && (it != end)) - { - const auto& ed = (*it); - auto toDel = it; - it++; - if(ed[0] == firstIndex) - { - vertices.push_back(topoVertices[ed[1]]); - firstIndex = ed[1]; - edges.erase(toDel); - notFound = false; - - } - else if(ed[1] == firstIndex) - { - vertices.push_back(topoVertices[ed[0]]); - firstIndex = ed[0]; - edges.erase(toDel); - notFound = false; - } - } - } - - msg_info() << "Successfully computed the topology" ; - - m_localRestPositions = vertices; - - for(unsigned int i = 0; i < m_localRestPositions.size() - 1; i++) - m_localRestPositions[i] *= d_nonProceduralScale.getValue(); - - initRestConfig(); - // TODO epernod 2022-08-05: Init from loader seems quite buggy, need to check if this is still needed and working - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Valid); -} - - -template -void WireRestShape::initRestConfig() -{ - m_curvAbs.clear(); - double tot = 0; - m_curvAbs.push_back(0); - Quat input, output; - input.identity(); - m_localRestTransforms.resize(m_localRestPositions.size()); - m_localRestTransforms[0].setOrigin(Vec3(0,0,0)); - m_localRestTransforms[0].setOrientation(input); - - for(unsigned int i = 0; i < m_localRestPositions.size() - 1; i++) - { - Vec3 vec = m_localRestPositions[i+1] - m_localRestPositions[i]; - double norm = vec.norm(); - tot += norm; - - this->rotateFrameForAlignX(input, vec, output); - - input = output; - - m_localRestTransforms[i+1].setOrientation(output); - - Vec3 localPos = m_localRestPositions[i+1] - m_localRestPositions[0]; - - m_localRestTransforms[i+1].setOrigin(localPos); - - m_curvAbs.push_back(tot); - } - m_absOfGeometry = tot; - - Real newLength = d_straightLength.getValue() + m_absOfGeometry; - d_length.setValue(newLength); - - msg_info() <<"Length of the loaded shape = "<< m_absOfGeometry << ", total length with straight length = " << newLength ; - - //if (!fillTopology()) - //{ - // msg_error() << "Error while trying to fill the associated topology, setting the state to Invalid"; - // this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - // return; - //} -} - - -template -void WireRestShape::getRestPosNonProcedural(Real& abs, Coord &p) -{ - /*** find the range which includes the "requested" abs ***/ - double startingAbs = 0; unsigned int index = 0; - - while ((startingAbs < abs) && (index < m_localRestPositions.size())) - { - index++; - startingAbs = m_curvAbs[index]; - } - - /*** OOB ***/ - if(abs > startingAbs) - { - msg_error() << "abs = "< typename WireRestShape::Real WireRestShape::getLength() { - return d_length.getValue(); + return d_keyPoints.getValue().back(); } + template void WireRestShape::getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) { @@ -716,9 +319,10 @@ void WireRestShape::getNumberOfCollisionSegment(Real &dx, unsigned in { numLines += l_sectionMaterials.get(i)->getNbCollisionEdges(); } - dx = d_length.getValue() / numLines; + dx = getLength() / numLines; } + template void WireRestShape::computeOrientation(const Vec3& AB, const Quat& Q, Quat &result) { @@ -751,26 +355,6 @@ void WireRestShape::computeOrientation(const Vec3& AB, const Quat& Q, } -template -void WireRestShape::draw(const core::visual::VisualParams* vparams) -{ - if (!d_drawRestShape.getValue()) - return; - - vparams->drawTool()->saveLastState(); - vparams->drawTool()->setLightingEnabled(false); - - std::vector< sofa::type::Vec3 > points; - points.reserve(m_localRestPositions.size()); - - for (unsigned int i = 0; i < m_localRestPositions.size(); i++) - { - points.emplace_back(m_localRestPositions[i][0], m_localRestPositions[i][1], m_localRestPositions[i][2]); - } - - vparams->drawTool()->drawPoints(points, 10, sofa::type::RGBAColor(1, 0.5, 0.5, 1)); - vparams->drawTool()->restoreLastState(); -} } // namespace _wirerestshape_ using _wirerestshape_::WireRestShape; From 1a38c8998dfb2002e29b17f06250a95fc148bd82 Mon Sep 17 00:00:00 2001 From: epernod Date: Fri, 30 Jun 2023 13:18:04 +0200 Subject: [PATCH 15/22] Clean and doc Rod section classes and WireRestShape --- .../component/engine/WireRestShape.h | 30 +++++++++++-------- .../component/engine/WireRestShape.inl | 15 +++------- 2 files changed, 21 insertions(+), 24 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index f646133ac..222215710 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -33,7 +33,6 @@ #include -#include #include #include @@ -56,8 +55,9 @@ using namespace sofa::beamadapter; * \class WireRestShape * \brief Describe the shape functions on multiple segments * - * Describe the full shape of a Wire with a given length and radius. The wire is discretized by a set of beams (given by the keyPoints and the relatives Beam density) - * This component compute the beam discretization and the shape functions on multiple segments using curvilinear abscissa. + * Describe the full shape of a Wire with a given set of @sa BaseRodSectionMaterial. The wire is discretized by a set of beams (given by the keyPoints and the relatives Beam density) + * @sa d_keyPoints and @d_density are computed by method @sa initLengths using the set of rod sections description. + * This component compute the beam discretization and the shape functions on multiple segments using curvilinear abscissa. */ template class WireRestShape : public core::objectmodel::BaseObject @@ -71,8 +71,6 @@ class WireRestShape : public core::objectmodel::BaseObject using Vec3 = sofa::type::Vec<3, Real>; using Quat = sofa::type::Quat; - using BeamSection = sofa::beamadapter::BeamSection; - /** * @brief Default Constructor. */ @@ -87,7 +85,7 @@ class WireRestShape : public core::objectmodel::BaseObject void init() override ; - /////////////////////////// Methods of WireRestShape ////////////////////////////////////////// + /////////////////////////// Methods of WireRestShape ////////////////////////////////////////// /// This function is called by the force field to evaluate the rest position of each beam void getRestTransformOnX(Transform &global_H_local, const Real &x); @@ -108,15 +106,24 @@ class WireRestShape : public core::objectmodel::BaseObject /// Functions enabling to load and use a geometry given from OBJ external file void computeOrientation(const Vec3& AB, const Quat& Q, Quat &result); - - //[[nodiscard]] bool fillTopology(); + Real getLength() ; void getCollisionSampling(Real &dx, const Real &x_curv); void getNumberOfCollisionSegment(Real &dx, unsigned int &numLines) ; + + + /////////////////////////// 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) + Real getReleaseCurvAbs() const { + msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; + return 0.0; + } + protected: - /// Internal method to init Lengths vector @sa d_keyPoints if not set using @sa d_length and @sa d_straightLength. Returns false if init can't be performed. - bool initLengths(); + /// Internal method to init Lengths vector @sa d_keyPoints using the length of each materials @sa l_sectionMaterials. + void initLengths(); /// Internal method to init Edge Topology @sa _topology using the list of materials @sa l_sectionMaterials. Returns false if init can't be performed. bool initTopology(); @@ -136,9 +143,6 @@ class WireRestShape : public core::objectmodel::BaseObject public: Data > d_density; Data > d_keyPoints; - - /// broken in 2 case - Data d_drawRestShape; /// Vector or links to the Wire section material. The order of the linked material will define the WireShape structure. MultiLink, BaseRodSectionMaterial, BaseLink::FLAG_STOREPATH | BaseLink::FLAG_STRONGLINK> l_sectionMaterials; diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index e66f78fc2..251e98a89 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -58,7 +58,6 @@ template WireRestShape::WireRestShape() : d_density(initData(&d_density, "densityOfBeams", "density of beams between key points")) , d_keyPoints(initData(&d_keyPoints,"keyPoints","key points of the shape (curv absc)")) - , d_drawRestShape(initData(&d_drawRestShape, (bool)false, "draw", "draw rest shape")) , l_sectionMaterials(initLink("wireMaterials", "link to Wire Section Materials (to be ordered according to the instrument, from handle to tip)")) , l_topology(initLink("topology", "link to the topology container")) { @@ -104,11 +103,7 @@ void WireRestShape::init() ////////// keyPoint list and Density Assignement /////// //////////////////////////////////////////////////////// - if (!initLengths()) - { - this->d_componentState.setValue(sofa::core::objectmodel::ComponentState::Invalid); - return; - } + initLengths(); initTopology(); @@ -120,7 +115,7 @@ void WireRestShape::init() template -bool WireRestShape::initLengths() +void WireRestShape::initLengths() { auto keyPointList = sofa::helper::getWriteOnlyAccessor(d_keyPoints); auto densityList = sofa::helper::getWriteOnlyAccessor(d_density); @@ -136,8 +131,6 @@ bool WireRestShape::initLengths() keyPointList[i+1] = keyPointList[i] + rodSection->getLength(); densityList[i] = rodSection->getNbCollisionEdges(); } - - return true; } @@ -236,7 +229,7 @@ void WireRestShape::getCollisionSampling(Real &dx, const Real &x_curv // If x_used is out of bounds. Warn user and returns default value. numLines = 20; dx = totalLength / numLines; - msg_error() << " problem is getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); + msg_error() << " problem in getCollisionSampling : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); } @@ -262,7 +255,7 @@ void WireRestShape::getRestTransformOnX(Transform &global_H_local, co } } - msg_warning() << "You should not be still here"; + msg_error() << " problem in getRestTransformOnX : x_curv " << x_used << " is not between keyPoints" << d_keyPoints.getValue(); } From d9c7cc0743185d1cc4902c5dbf1e13e1c4b6af2f Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 19 Oct 2023 17:42:49 +0200 Subject: [PATCH 16/22] Fix bad cherry pick --- src/BeamAdapter/component/engine/WireRestShape.h | 16 ++++------------ 1 file changed, 4 insertions(+), 12 deletions(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.h b/src/BeamAdapter/component/engine/WireRestShape.h index 222215710..04aac38b1 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.h +++ b/src/BeamAdapter/component/engine/WireRestShape.h @@ -121,6 +121,10 @@ class WireRestShape : public core::objectmodel::BaseObject return 0.0; } + void releaseWirePart() { + msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; + } + protected: /// Internal method to init Lengths vector @sa d_keyPoints using the length of each materials @sa l_sectionMaterials. void initLengths(); @@ -128,18 +132,6 @@ class WireRestShape : public core::objectmodel::BaseObject bool initTopology(); - /////////////////////////// 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) - Real getReleaseCurvAbs() const { - msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; - return 0.0; - } - - void releaseWirePart() { - msg_warning() << "Releasing catheter or brokenIn2 mode is not anymore supported. Feature has been removed after release v23.06"; - } - public: Data > d_density; Data > d_keyPoints; From 3c61d514cc0feb8b3e056c8757e0bd195347a814 Mon Sep 17 00:00:00 2001 From: epernod Date: Thu, 19 Oct 2023 17:07:25 +0200 Subject: [PATCH 17/22] [scenes] Update all scenes with new rod section components --- examples/3instruments.scn | 23 +++++++++++++++------- examples/3instruments_collis.scn | 21 ++++++++++++++------ examples/SingleBeamDeployment.scn | 9 ++++----- examples/SingleBeamDeploymentCollision.scn | 10 +++++----- examples/Tool_from_loader.scn | 11 ++++++----- 5 files changed, 46 insertions(+), 28 deletions(-) diff --git a/examples/3instruments.scn b/examples/3instruments.scn index 2e1843149..8d876cdad 100644 --- a/examples/3instruments.scn +++ b/examples/3instruments.scn @@ -24,25 +24,34 @@ - + + + + + - + + + + + - - + + + + + + diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn index 4a5511faa..5f0d0ad19 100644 --- a/examples/3instruments_collis.scn +++ b/examples/3instruments_collis.scn @@ -38,24 +38,33 @@ - + + + + + - + + + + + - + + + + + diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn index ca9739617..f29e61142 100644 --- a/examples/SingleBeamDeployment.scn +++ b/examples/SingleBeamDeployment.scn @@ -15,11 +15,10 @@ - + + + + diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn index b455d0f44..4797b11e3 100644 --- a/examples/SingleBeamDeploymentCollision.scn +++ b/examples/SingleBeamDeploymentCollision.scn @@ -32,11 +32,11 @@ - + + + + + diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn index 544bcba57..e76e8fd76 100644 --- a/examples/Tool_from_loader.scn +++ b/examples/Tool_from_loader.scn @@ -23,11 +23,12 @@ - - + + + + + + From f7d71f3c0410ce6044d8ee3f25866196a2699a0e Mon Sep 17 00:00:00 2001 From: epernod Date: Fri, 20 Oct 2023 10:26:02 +0200 Subject: [PATCH 18/22] Fix more tests --- ...InterventionalRadiologyController_test.cpp | 3 +- .../component/model/WireRestShape_test.cpp | 69 +++++++++++-------- 2 files changed, 41 insertions(+), 31 deletions(-) diff --git a/BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp b/BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp index 0d78f9027..3fa2898ee 100644 --- a/BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp +++ b/BeamAdapter_test/component/controller/InterventionalRadiologyController_test.cpp @@ -122,7 +122,8 @@ void InterventionalRadiologyController_test::testDefaultInit() " " " " " " - " " + " " + " " " " " " " " diff --git a/BeamAdapter_test/component/model/WireRestShape_test.cpp b/BeamAdapter_test/component/model/WireRestShape_test.cpp index 0e81d0a0b..c41d9f054 100644 --- a/BeamAdapter_test/component/model/WireRestShape_test.cpp +++ b/BeamAdapter_test/component/model/WireRestShape_test.cpp @@ -119,13 +119,14 @@ void WireRestShape_test::testDefaultInit() { std::string scene = "" - " " - " " - " " - " " - " " - " " - " "; + " " + " " + " " + " " + " " + " " + " " + " "; loadScene(scene); @@ -141,15 +142,17 @@ void WireRestShape_test::testParameterInit() { std::string scene = "" - " " - " " - " " - " " - " " - " " - " "; - + " " + " " + " " + " " + " " + " " + " " + " " + " "; + loadScene(scene); WireRestShapeRig3::SPtr wireRShape = this->m_root->get< WireRestShapeRig3 >(sofa::core::objectmodel::BaseContext::SearchDown); @@ -157,12 +160,13 @@ void WireRestShape_test::testParameterInit() 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 keysPoints, keysPoints_ref = { 0, straightLength, fullLength }; - Real ratio = straightLength / fullLength; - vector nbP_density, nbP_density_ref = { int(floor(5.0 * ratio)), int(floor(20.0 * (1 - ratio))) }; + vector nbP_density, nbP_density_ref = { nbrE0, nbrE1 }; wire->getSamplingParameters(keysPoints, nbP_density); EXPECT_EQ(keysPoints.size(), 3); @@ -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); } @@ -187,8 +191,10 @@ void WireRestShape_test::testTopologyInit() "" " " " " - " " + " " + " " + " " " " " " " " @@ -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); @@ -227,8 +234,10 @@ void WireRestShape_test::testTransformMethods() "" " " " " - " " + " " + " " + " " " " " " " " From 013700309a0b8894cb71236f8267a1aafe489462 Mon Sep 17 00:00:00 2001 From: epernod Date: Fri, 20 Oct 2023 18:04:42 +0200 Subject: [PATCH 19/22] restore epsilon value --- src/BeamAdapter/component/engine/WireRestShape.inl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BeamAdapter/component/engine/WireRestShape.inl b/src/BeamAdapter/component/engine/WireRestShape.inl index 251e98a89..b97aae504 100644 --- a/src/BeamAdapter/component/engine/WireRestShape.inl +++ b/src/BeamAdapter/component/engine/WireRestShape.inl @@ -38,7 +38,7 @@ #include #include -#define EPSILON 0.0001 +#define EPSILON 0.0000000001 #define VERIF 1 namespace sofa::component::engine From 0c6ba1e049afd2c353aa2e32cfa3b6c3d1f9abfa Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 28 Nov 2023 11:05:32 +0100 Subject: [PATCH 20/22] Update scenes behavior and add recorded motion to fully test the 3 instruments deployments --- examples/3instruments.html | 15 +- examples/3instruments.scn | 21 ++- examples/3instruments_collis.html | 46 ++++- examples/3instruments_collis.scn | 185 ++++++++++----------- examples/SingleBeamDeploymentCollision.scn | 26 +-- 5 files changed, 164 insertions(+), 129 deletions(-) diff --git a/examples/3instruments.html b/examples/3instruments.html index 1361ea6ba..f11bc3233 100644 --- a/examples/3instruments.html +++ b/examples/3instruments.html @@ -9,7 +9,10 @@
Instruments control

- You can use the keyboard to control the instrument. + Recorded motion has been recorded to demonstrate the 3 intruments behavior. +
+
To manually test it, set the component BeamAdapterActionController writeMode to true. +
Then you can use the keyboard to control the instrument:
  • To change instrument
      @@ -18,16 +21,16 @@
    • ctrl + 2
    • -
  • To progress instrument +
  • To move the instrument forward/backward
      -
    • ctrl + + -
    • ctrl + - +
    • ctrl + UP key +
    • ctrl + DOWN key
  • To turn instrument
      -
    • ctrl + A -
    • ctrl + E +
    • ctrl + LEFT key +
    • ctrl + RIGHT key
diff --git a/examples/3instruments.scn b/examples/3instruments.scn index 8d876cdad..e9e438d18 100644 --- a/examples/3instruments.scn +++ b/examples/3instruments.scn @@ -15,12 +15,10 @@ - - @@ -62,10 +60,10 @@ @@ -78,11 +76,16 @@ - + + + - + diff --git a/examples/3instruments_collis.html b/examples/3instruments_collis.html index 51a7b1b11..f11bc3233 100644 --- a/examples/3instruments_collis.html +++ b/examples/3instruments_collis.html @@ -1,12 +1,42 @@ + + + -

Scene controls

-After launching the simulation ("Animate" button), clic on the viewport to give it the focus.
-Ctrl+[UP/DOWN key] move the tool forward/backward.
-Ctrl+[LEFT/RIGHT key] rotate the tool.
-Ctrl+[0/1/2] switch tool.
- +
+

Beam Adapter 3 instruments interventional radiology

+
+
Instruments control
+
+
+ Recorded motion has been recorded to demonstrate the 3 intruments behavior. +
+
To manually test it, set the component BeamAdapterActionController writeMode to true. +
Then you can use the keyboard to control the instrument: +
    +
  • To change instrument +
      +
    • ctrl + 0 +
    • ctrl + 1 +
    • ctrl + 2 +
    +
    • +
  • To move the instrument forward/backward +
      +
    • ctrl + UP key +
    • ctrl + DOWN key +
    +
    • +
  • To turn instrument +
      +
    • ctrl + LEFT key +
    • ctrl + RIGHT key +
    +
    • +
+
+ +
+
- - diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn index 5f0d0ad19..0b37c8b56 100644 --- a/examples/3instruments_collis.scn +++ b/examples/3instruments_collis.scn @@ -1,6 +1,6 @@ - - - + + + @@ -23,147 +23,146 @@ - + - + - + - - + + - + - - - - + + + + - + - - - - + + + + - + - - - - + + + + - - - - + + + - + - - + + - - + + - - + + - + + - + - - + + - - - - - - - + + + + + + + - - - - - - + + + + + + - + - - - + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + - - - - - - - - - - + + + + + + + + - - - diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn index 4797b11e3..ed3a1b887 100644 --- a/examples/SingleBeamDeploymentCollision.scn +++ b/examples/SingleBeamDeploymentCollision.scn @@ -23,12 +23,12 @@ - - - + + + - - + + @@ -57,24 +57,24 @@ 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"/> - + - - - - + + + + - - - + + + From 71eaf13520ae1b127356dc1b998bb272630ab021 Mon Sep 17 00:00:00 2001 From: epernod Date: Tue, 28 Nov 2023 11:37:17 +0100 Subject: [PATCH 21/22] Update scenes regression references --- ..._collis.scn.reference_0_DOFs_mstate.txt.gz | Bin 536 -> 1954 bytes ...cn.reference_1_CollisionDOFs_mstate.txt.gz | Bin 431 -> 875 bytes ...collis.scn.reference_2_Quads_mstate.txt.gz | Bin 10506 -> 29812 bytes ...collis.scn.reference_3_Quads_mstate.txt.gz | Bin 457 -> 25107 bytes ...collis.scn.reference_4_Quads_mstate.txt.gz | Bin 745 -> 6238 bytes ...n.reference_0_DOFs Container_mstate.txt.gz | Bin 514 -> 842 bytes ...cn.reference_1_CollisionDOFs_mstate.txt.gz | Bin 435 -> 458 bytes 7 files changed, 0 insertions(+), 0 deletions(-) diff --git a/regression/references/3instruments_collis.scn.reference_0_DOFs_mstate.txt.gz b/regression/references/3instruments_collis.scn.reference_0_DOFs_mstate.txt.gz index 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