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Apply SOFA PR 4750 changes #160

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8c14a01
Apply data name change
bakpaul Dec 10, 2024
cba9a31
Use FixedweakConstraint instead when possible
bakpaul Mar 4, 2025
11d594d
Merge remote-tracking branch 'sofa-framework/master' into apply_data_…
bakpaul Apr 2, 2025
87c5c8c
Fix scene test
bakpaul Apr 3, 2025
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2 changes: 1 addition & 1 deletion examples/3instruments.scn
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@
controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' speed='2' instruments='InterpolCatheter InterpolGuide InterpolCoils' />

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

<Node name='VisuCatheter' activated='true'>
<MechanicalObject name='Quads' />
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2 changes: 1 addition & 1 deletion examples/3instruments_collis.scn
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Expand Up @@ -102,7 +102,7 @@
<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>

<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />
<FixedWeakConstraint indices="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />

<Node name="Collis" activated="true">
<EdgeSetTopologyContainer name="collisEdgeSet" />
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2 changes: 1 addition & 1 deletion examples/SingleBeamDeployment.scn
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Expand Up @@ -40,7 +40,7 @@
rotationInstrument="0 0 0" step="0.5" speed="0.5"
listening="1" controlledInstrument="0"/>
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
<FixedWeakConstraint name="RestSPForceField" indices="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
</Node>

</Node>
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2 changes: 1 addition & 1 deletion examples/SingleBeamDeploymentCollision.scn
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Expand Up @@ -59,7 +59,7 @@
listening="1" controlledInstrument="0"/>
<LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
<FixedWeakConstraint name="RestSPForceField" indices="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>

<Node name="CollisionModel">
<EdgeSetTopologyContainer name="collisEdgeSet" />
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2 changes: 1 addition & 1 deletion examples/Tool_from_loader.scn
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Expand Up @@ -56,7 +56,7 @@
/>

<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<RestShapeSpringsForceField points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />
<FixedWeakConstraint indices="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />

<Node name='VisuGuideCatheter'>
<MechanicalObject name='dof_visual_GC' />
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2 changes: 1 addition & 1 deletion examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
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Expand Up @@ -60,7 +60,7 @@ def createScene(rootNode):
InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', name="CatheterForceField", massDensity="0.000005", interpolation="@InterpolCatheter", printLog=False)
InstrumentCombined.addObject('LinearSolverConstraintCorrection', printLog=False, wire_optimization="true")
InstrumentCombined.addObject("FixedProjectiveConstraint", indices="0")
InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF", points="@m_ircontroller.indexFirstNode", stiffness="1e10", recompute_indices="1", angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos", external_points="0", drawSpring="1", springColor="1 0 0 1")
InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF", indices="@m_ircontroller.indexFirstNode", stiffness="1e10", angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos", externalIndices="0", drawSpring="1", springColor="1 0 0 1")

CollisInstrumentCombined = InstrumentCombined.addChild('CollisInstrumentCombined')
CollisInstrumentCombined.addObject('EdgeSetTopologyContainer', name="collisEdgeSet")
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2 changes: 1 addition & 1 deletion examples/python3/SingleBeamDeployment.py
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Expand Up @@ -45,7 +45,7 @@ def createScene(rootNode):
rotationInstrument=[0, 0, 0], step=0.5, speed=0.5,
listening=True, controlledInstrument=0)
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('RestShapeSpringsForceField', name="RestSPForceField", points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
BeamMechanics.addObject('FixedWeakConstraint', name="RestSPForceField", indices='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)


def main():
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2 changes: 1 addition & 1 deletion examples/python3/SingleBeamDeploymentCollision.py
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Expand Up @@ -54,7 +54,7 @@ def createScene(rootNode):
listening=True, controlledInstrument=0)
BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
BeamMechanics.addObject('RestShapeSpringsForceField', points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
BeamMechanics.addObject('FixedWeakConstraint', indices='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)


BeamCollis = BeamMechanics.addChild('CollisionModel')
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4 changes: 2 additions & 2 deletions examples/python3/beamadapter/parts/instrument.py
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Expand Up @@ -53,7 +53,7 @@ def combineInstruments(node, xtip=[1, 0, 0], instruments=['guide'],
controlledInstrument=controlledInstrument)
InstrumentCombined.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
InstrumentCombined.addObject('FixedConstraint', indices=0, name='FixedConstraint')
InstrumentCombined.addObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode',
InstrumentCombined.addObject('FixedWeakConstraint', indices='@m_ircontroller.indexFirstNode',
angularStiffness=1e8, stiffness=1e8)

return (InstrumentCombined)
Expand Down Expand Up @@ -90,7 +90,7 @@ def createInstrumentsCombined(node, xtip=[1, 0, 0], instruments=['guide'],
controlledInstrument=controlledInstrument)
InstrumentCombined.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
InstrumentCombined.addObject('FixedConstraint', indices=0, name='FixedConstraint')
InstrumentCombined.addObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode',
InstrumentCombined.addObject('FixedWeakConstraint', indices='@m_ircontroller.indexFirstNode',
angularStiffness=1e8, stiffness=1e8)

# Collision model
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6 changes: 3 additions & 3 deletions examples/python3/component/BeamProjectionDifferenceMultiMapping.py
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Expand Up @@ -49,7 +49,7 @@ def createScene(rootnode):
fixing = particles.addChild('FixingConstraintParticle1')
beam.addChild(fixing)
fixing.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
fixing.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=1e6)
fixing.addObject('FixedWeakConstraint', stiffness=1e6, angularStiffness=1e6)
fixing.addObject('BeamProjectionDifferenceMultiMapping',
directions=[1, 1, 1, 1, 1, 1, 1], # The three positions and rotations
input1=particles.getMechanicalState().linkpath,
Expand All @@ -63,7 +63,7 @@ def createScene(rootnode):
sliding = particles.addChild('SlidingConstraintParticle2')
beam.addChild(sliding)
sliding.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
sliding.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=0)
sliding.addObject('FixedWeakConstraint', stiffness=1e6, angularStiffness=0, fixAll=True)
sliding.addObject('BeamProjectionDifferenceMultiMapping',
directions=[0, 1, 1, 1, 1, 1, 1], # Only y, z positions to allow the particle to slide on the beam
# but this time we add the three rotations
Expand All @@ -77,7 +77,7 @@ def createScene(rootnode):
sliding = particles.addChild('SlidingConstraintParticle3')
beam.addChild(sliding)
sliding.addObject('MechanicalObject', template='Rigid3', position=[0, 0, 0, 0, 0, 0, 0])
sliding.addObject('RestShapeSpringsForceField', stiffness=1e6, angularStiffness=1e6)
sliding.addObject('FixedWeakConstraint', stiffness=1e6, angularStiffness=1e6, fixAll=True)
sliding.addObject('BeamProjectionDifferenceMultiMapping',
directions=[0, 1, 1, 0, 0, 0, 0], # Only y, z positions to allow the particle to slide on the beam
input1=particles.getMechanicalState().linkpath,
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