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[scene] Rename some components - cleaning in the NeedleInsertion scene #20

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Merged
epernod merged 6 commits into from
Jul 16, 2025
Merged

[scene] Rename some components - cleaning in the NeedleInsertion scene #20

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7719b1b
[scene] fixed the rigid mapping from the master mstate to the needle tip
th-skam Jul 11, 2025
f8cdc1b
[scene] Renamed components for cleaner log output
th-skam Jul 11, 2025
0c36e1e
[scene] Remove CollisionAlgorithm/ConstraintGeometry from loaded plug…
th-skam Jul 15, 2025
573934b
Merge branch 'master' into fix-names
epernod Jul 15, 2025
786be37
Rename volumeVisu
th-skam Jul 16, 2025
29dd5f5
bring back plugin loaded
th-skam Jul 16, 2025
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78 changes: 43 additions & 35 deletions scenes/NeedleInsertion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,8 @@ def createScene(root):
'Sofa.Component.Engine.Select',
'MultiThreading',
'CollisionAlgorithm',
'ConstraintGeometry'])
'ConstraintGeometry'
])


root.addObject("ConstraintAttachButtonSetting")
Expand All @@ -62,7 +63,7 @@ def createScene(root):
root.addObject("CollisionLoop")

needleBaseMaster = root.addChild("NeedleBaseMaster")
needleBaseMaster.addObject("MechanicalObject", name="mstate", position=[0.04, 0.04, 0, 0, 0, 0, 1], template="Rigid3d", showObjectScale=0.002, showObject="true", drawMode=1)
needleBaseMaster.addObject("MechanicalObject", name="mstate_baseMaster", position=[0.04, 0.04, 0, 0, 0, 0, 1], template="Rigid3d", showObjectScale=0.002, showObject="true", drawMode=1)
needleBaseMaster.addObject("LinearMovementProjectiveConstraint",indices=[0], keyTimes=[0,1,7,9],movements=[[0.04, 0.04,0,0,0,0],[0.04, 0.04,0.05,0,3.14/2,0],[0.04, 0.04,-0.07,0,3.14/2,0],[0.05, 0.04,-0.07,0,3.14/2 + 3.14/16,0]],relativeMovements=False)


Expand All @@ -84,42 +85,42 @@ def createScene(root):
needle.addObject("LinearSolverConstraintCorrection", printLog="false", linearSolver="@LinearSolver")

needleBase = needle.addChild("needleBase")
needleBase.addObject("PointSetTopologyContainer", name="Container", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate", template="Rigid3d",)
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate")
needleBase.addObject("PointSetTopologyContainer", name="Container_base", position=[0, 0, 0])
needleBase.addObject("MechanicalObject",name="mstate_base", template="Rigid3d",)
needleBase.addObject("RestShapeSpringsForceField",points=[0],stiffness=1e8, angularStiffness=1e8,external_points=[0],external_rest_shape="@/NeedleBaseMaster/mstate_baseMaster")

needleBase.addObject("SubsetMapping", indices="0")

needleBodyCollision = needle.addChild("bodyCollision")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container", src="@../Container")
needleBodyCollision.addObject("MechanicalObject",name="mstate", template="Vec3d",)
needleBodyCollision.addObject("EdgeGeometry",name="geom",mstate="@mstate", topology="@Container")
needleBodyCollision.addObject("EdgeSetTopologyContainer", name="Container_body", src="@../Container")
needleBodyCollision.addObject("MechanicalObject",name="mstate_body", template="Vec3d",)
needleBodyCollision.addObject("EdgeGeometry",name="geom",mstate="@mstate_body", topology="@Container_body")

needleBodyCollision.addObject("IdentityMapping")


needleTipCollision = needle.addChild("tipCollision")
needleTipCollision.addObject("MechanicalObject",name="mstate",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",)
needleTipCollision.addObject("PointGeometry",name="geom",mstate="@mstate")
needleTipCollision.addObject("MechanicalObject",name="mstate_tip",position=[g_needleLength+g_needleBaseOffset[0], g_needleBaseOffset[1], g_needleBaseOffset[2]],template="Vec3d",)
needleTipCollision.addObject("PointGeometry",name="geom",mstate="@mstate_tip")
needleTipCollision.addObject("RigidMapping",globalToLocalCoords=True,index=g_needleNumberOfElems)


needleVisual = needle.addChild("visual")
needleVisual.addObject("QuadSetTopologyContainer", name="ContainerCath")
needleVisual.addObject("QuadSetTopologyContainer", name="Container_visu")
needleVisual.addObject("QuadSetTopologyModifier", name="Modifier")
needleVisual.addObject("Edge2QuadTopologicalMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../Container", output="@ContainerCath")
needleVisual.addObject("Edge2QuadTopologicalMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../Container", output="@Container_visu")

needleVisual.addObject("MechanicalObject", name="VisualCatheter", showObjectScale="0.0002", showObject="true", drawMode="1")
needleVisual.addObject("MechanicalObject", name="mstate_visu", showObjectScale="0.0002", showObject="true", drawMode="1")

needleVisual.addObject("TubularMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../mstate", output="@VisualCatheter")
needleVisual.addObject("TubularMapping", nbPointsOnEachCircle=8, radius=g_needleRadius, input="@../mstate", output="@mstate_visu")

needleOGL = needleVisual.addChild("OGL")
needleOGL.addObject("OglModel", position="@../ContainerCath.position",
vertices="@../ContainerCath.position",
quads="@../ContainerCath.quads",
needleOGL.addObject("OglModel", position="@../Container_visu.position",
vertices="@../Container_visu.position",
quads="@../Container_visu.quads",
color="0.4 0.34 0.34",
material="texture Ambient 1 0.4 0.34 0.34 1.0 Diffuse 0 0.4 0.34 0.34 1.0 Specular 1 0.4 0.34 0.34 0.1 Emissive 1 0.5 0.54 0.54 .01 Shininess 1 20",
name="VisualCatheter")
name="visualOgl")
needleOGL.addObject("IdentityMapping")


Expand All @@ -131,15 +132,15 @@ def createScene(root):
volume = root.addChild("Volume")
volume.addObject("EulerImplicitSolver")
volume.addObject("EigenSimplicialLDLT", name="LinearSolver", template='CompressedRowSparseMatrixMat3x3d')
volume.addObject("TetrahedronSetTopologyContainer", name="Container", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="Modifier")
volume.addObject("Hexa2TetraTopologicalMapping", input="@../GelGridTopo/HexaTop", output="@Container", swapping="false")

volume.addObject("MechanicalObject", name="mstate", template="Vec3d")
volume.addObject("TetrahedronGeometry", name="geom", mstate="@mstate", topology="@Container", draw=False)
volume.addObject("TriangleGeometry", name="tri_geom", mstate="@mstate", topology="@Container",draw=True)
volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom")
volume.addObject("AABBBroadPhase",name="AABBTetra",geometry="@geom",nbox=[3,3,3],thread=1)
volume.addObject("TetrahedronSetTopologyContainer", name="TetraContainer", position="@../GelGridTopo/HexaTop.position")
volume.addObject("TetrahedronSetTopologyModifier", name="TetraModifier")
volume.addObject("Hexa2TetraTopologicalMapping", input="@../GelGridTopo/HexaTop", output="@TetraContainer", swapping="false")

volume.addObject("MechanicalObject", name="mstate_gel", template="Vec3d")
volume.addObject("TetrahedronGeometry", name="geom_tetra", mstate="@mstate_gel", topology="@TetraContainer", draw=False)
#volume.addObject("TriangleGeometry", name="tri_geom", mstate="@mstate_gel", topology="@TetraContainer",draw=True)
volume.addObject("PhongTriangleNormalHandler", name="InternalTriangles", geometry="@geom_tetra")
volume.addObject("AABBBroadPhase",name="AABBTetra",geometry="@geom_tetra",nbox=[3,3,3],thread=1)
#volume.addObject("ParallelTetrahedronFEMForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("TetrahedronFEMForceField", name="FF",**g_gelMechanicalParameters)
volume.addObject("MeshMatrixMass", name="Mass",totalMass=g_gelTotalMass)
Expand All @@ -151,24 +152,31 @@ def createScene(root):

volumeCollision = volume.addChild("collision")
volumeCollision.addObject("TriangleSetTopologyContainer", name="TriContainer")
volumeCollision.addObject("TriangleSetTopologyModifier", name="Modifier")
volumeCollision.addObject("Tetra2TriangleTopologicalMapping", name="mapping", input="@../Container", output="@TriContainer", flipNormals=False)
volumeCollision.addObject("MechanicalObject", name="mstate",position="@../Container.position")
volumeCollision.addObject("TriangleGeometry", name="geom", mstate="@mstate", topology="@TriContainer",draw=False)
volumeCollision.addObject("PhongTriangleNormalHandler", name="SurfaceTriangles", geometry="@geom")
volumeCollision.addObject("TriangleSetTopologyModifier", name="TriModifier")
volumeCollision.addObject("Tetra2TriangleTopologicalMapping", name="mapping", input="@../TetraContainer", output="@TriContainer", flipNormals=False)
volumeCollision.addObject("MechanicalObject", name="mstate_gelColi",position="@../TetraContainer.position")
volumeCollision.addObject("TriangleGeometry", name="geom_tri", mstate="@mstate_gelColi", topology="@TriContainer",draw=False)
volumeCollision.addObject("PhongTriangleNormalHandler", name="SurfaceTriangles", geometry="@geom_tri")
volumeCollision.addObject("AABBBroadPhase",name="AABBTriangles",thread=1,nbox=[2,2,3])

volumeCollision.addObject("IdentityMapping", name="identityMappingToCollision", input="@../mstate", output="@mstate", isMechanical=True)
volumeCollision.addObject("IdentityMapping", name="identityMappingToCollision", input="@../mstate_gel", output="@mstate_gelColi", isMechanical=True)

volumeVisu = volumeCollision.addChild("visu")
volumeVisu.addObject("OglModel", position="@../TriContainer.position",
vertices="@../TriContainer.position",
triangles="@../TriContainer.triangles",
color=g_cubeColor,name="VisualCatheter",template="Vec3d")
color=g_cubeColor,name="volume_visu",template="Vec3d")
volumeVisu.addObject("IdentityMapping")

volumeVisuWire = volume.addChild("visu_wire")
volumeVisuWire.addObject("OglModel", position="@../TetraContainer.position",
vertices="@../TetraContainer.position",
triangles="@../TetraContainer.triangles",
color=[1, 0, 1, 1],name="volume_visu",template="Vec3d")
volumeVisuWire.addObject("IdentityMapping")

root.addObject("InsertionAlgorithm", name="InsertionAlgo", fromGeom="@Needle/tipCollision/geom", destGeom="@Volume/collision/geom", destVol="@Volume/geom", punctureThreshold=0.1)

root.addObject("InsertionAlgorithm", name="InsertionAlgo", fromGeom="@Needle/tipCollision/geom", destGeom="@Volume/collision/geom_tri", destVol="@Volume/geom_tetra", punctureThreshold=0.1)
root.addObject("DistanceFilter",algo="@InsertionAlgo",distance=0.01)
root.addObject("SecondDirection",name="punctureDirection",handler="@Volume/collision/SurfaceTriangles")
root.addObject("ConstraintUnilateral",input="@InsertionAlgo.output",directions="@punctureDirection",draw_scale="0.001")#, mu="0.001")
Expand Down