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[IRC] Reset the restPositions while fixed - make consistent StartPosition #205

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Merged
epernod merged 5 commits into from
Oct 16, 2025
Merged

[IRC] Reset the restPositions while fixed - make consistent StartPosition #205

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f0342ff
reset also the fixed rest positions
fredroy Sep 22, 2025
89ac0bb
Update src/BeamAdapter/component/controller/InterventionalRadiologyCo…
fredroy Sep 26, 2025
35828b7
fix scenes, where the tool starting rotation is set ONLY in startingPos
fredroy Oct 13, 2025
5190fca
apply at init too
fredroy Oct 13, 2025
451a2b0
regenerate references
fredroy Oct 13, 2025
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2 changes: 1 addition & 1 deletion examples/3instruments.scn
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Expand Up @@ -65,7 +65,7 @@
ymin='0' ymax='0'
zmin='1' zmax='1'
/>
<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' ry='-90'/>
<MechanicalObject template='Rigid3d' name='DOFs' showIndices='0' />

<WireBeamInterpolation name='InterpolCatheter' WireRestShape='@../topoLines_cath/catheterRestShape'/>
<AdaptiveBeamForceFieldAndMass name='CatheterForceField' interpolation='@InterpolCatheter'/>
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4 changes: 2 additions & 2 deletions examples/SingleBeamDeployment.scn
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Expand Up @@ -31,12 +31,12 @@
<RegularGridTopology name="MeshLines" nx="36" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
p0="0 0 0" drawEdges="1"/>
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />
<MechanicalObject template="Rigid3d" name="DOFs Container" />

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape" />
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1"
topology="@MeshLines" startingPos="0 0 0 0 -0.7071068 0 0.7071068" xtip="0" printLog="1"
rotationInstrument="0" step="0.5" speed="0.5"
listening="1" controlledInstrument="0"/>
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
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4 changes: 2 additions & 2 deletions examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -49,12 +49,12 @@
<RegularGridTopology name="MeshLines" nx="61" ny="1" nz="1"
xmax="0.0" xmin="0.0" ymin="0" ymax="0" zmax="0" zmin="0"
p0="0 0 0" drawEdges="1"/>
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90" />
<MechanicalObject template="Rigid3d" name="DOFs Container" ry="-90"/>

<WireBeamInterpolation name="BeamInterpolation" WireRestShape="@../EdgeTopology/BeamRestShape"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" interpolation="@BeamInterpolation"/>
<InterventionalRadiologyController name="DeployController" template="Rigid3d" instruments="BeamInterpolation"
topology="@MeshLines" startingPos="0 0 0 0 0 0 1" xtip="0" printLog="1"
topology="@MeshLines" startingPos="0 0 0 0 -0.7071068 0 0.7071068" xtip="0" printLog="1"
rotationInstrument="0" step="5" speed="5"
listening="1" controlledInstrument="0"/>
<LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
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4 changes: 2 additions & 2 deletions examples/python3/SingleBeamDeployment.py
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Expand Up @@ -37,11 +37,11 @@ def createScene(rootNode):
nx=61, ny=1, nz=1,
xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
p0=[0,0,0])
BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90)
BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d')
BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation',
topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True,
topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True,
rotationInstrument=[0], step=0.5, speed=0.5,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
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4 changes: 2 additions & 2 deletions examples/python3/SingleBeamDeploymentCollision.py
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Expand Up @@ -45,11 +45,11 @@ def createScene(rootNode):
nx=61, ny=1, nz=1,
xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0,
p0=[0,0,0])
BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90)
BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d')
BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False)
BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation')
BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation',
topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0], printLog=True,
topology="@MeshLines", startingPos=[0, 0, 0, 0, -0.7071068, 0, 0.7071068], xtip=[0], printLog=True,
rotationInstrument=[0], step=5., speed=5.,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
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Binary file modified regression/references/SingleBeamDeployment.py.reference_0_DOFs Container_mstate.txt.gz
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14 changes: 12 additions & 2 deletions src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
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Expand Up @@ -283,8 +283,13 @@ void InterventionalRadiologyController<DataTypes>::init()
}

WriteAccessor<Data<VecCoord> > x = *this->mState->write(sofa::core::vec_id::write_access::position);
WriteAccessor<Data<VecCoord> > xrest = *this->mState->write(sofa::core::vec_id::write_access::restPosition);
const auto& startPos = d_startingPos.getValue();
for(unsigned int i=0; i<x.size(); i++)
x[i] = d_startingPos.getValue();
{
x[i] = startPos;
xrest[i] = startPos;
}

applyInterventionalRadiologyController();

Expand Down Expand Up @@ -1117,14 +1122,19 @@ template <class DataTypes>
void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsigned int firstSimulatedNode)
{
WriteAccessor<Data<VecCoord> > xMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::position);
WriteAccessor<Data<VecCoord> > xrestMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::restPosition);
WriteAccessor<Data<VecDeriv> > vMstate = *getMechanicalState()->write(sofa::core::vec_id::write_access::velocity);

// set the position to startingPos for all the nodes that are not simulated
const auto& startPos = d_startingPos.getValue();
// and add a fixedConstraint
l_fixedConstraint->clearConstraints();
for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
{
xMstate[i]=d_startingPos.getValue();
xMstate[i] = startPos;
// Overwriting the rest position avoids a jump of released DoFs, trying to reach their rest position when released
// This remains safe since BeamFEMForceField uses the interpolation object to compute transformation without using the rest shape
xrestMstate[i] = startPos;
vMstate[i].clear();
l_fixedConstraint->addConstraint(i);
}
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