AdaptiveBeamController
Adaptive beam controller.
Rigid3d
Templates:
- Rigid3d
Target: BeamAdapter
namespace: beamadapter
parents:
- MechanicalStateController
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the object belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| handleEventTriggersUpdate | Event handling frequency controls the controller update frequency | 0 |
| index | Index of the controlled DOF | 0 |
| onlyTranslation | Controlling the DOF only in translation | 0 |
| buttonDeviceState | state of ths device button | 0 |
| mainDirection | Main direction and orientation of the controlled DOF | 0 0 -1 |
| interpolation | Path to the Interpolation component on scene | |
| controlledInstrument | provide the id of the interventional radiology instrument which is under control: press contr + number to change it | 0 |
| xtip | curvilinear abscissa of the tip of each interventional radiology instrument | |
| rotationInstrument | angle of rotation for each interventional radiology instrument | |
| step | base step when changing beam length | 0.1 |
| angularStep | base step when changing beam angle | 0.15708 |
| speed | continuous beam length increase/decrease | 0 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |
Examples
AdaptiveBeamController.scn
<?xml version="1.0"?>
<Node name="root" gravity="0 -9.81 0" dt="0.01" bbox="0 0 0 10 10 10">
<RequiredPlugin name="Sofa.Component.Constraint.Projective"/> <!-- Needed to use components [FixedProjectiveConstraint] -->
<RequiredPlugin name="Sofa.Component.LinearSolver.Direct"/> <!-- Needed to use components [EigenSparseLU] -->
<RequiredPlugin name="Sofa.Component.ODESolver.Backward"/> <!-- Needed to use components [EulerImplicitSolver] -->
<RequiredPlugin name="Sofa.Component.StateContainer"/> <!-- Needed to use components [MechanicalObject] -->
<RequiredPlugin name="Sofa.Component.Topology.Container.Constant"/> <!-- Needed to use components [MeshTopology] -->
<RequiredPlugin name="Sofa.Component.Visual"/> <!-- Needed to use components [VisualStyle] -->
<RequiredPlugin name="BeamAdapter"/> <!-- Needed to use components [AdaptiveBeamController,AdaptiveBeamForceFieldAndMass,BeamInterpolation] -->
<VisualStyle displayFlags="showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields" />
<DefaultAnimationLoop />
<Node name="AdaptiveBeam1">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 0 0 0 0 1 0.5 0 0 0 0 0 1 1 0 0 0 0 0 1 1.5 0 0 0 0 0 1 2 0 0 0 0 0 1 2.5 0 0 0 0 0 1 3 0 0 0 0 0 1"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3 3 4 4 5 5 6" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<BeamInterpolation name="BeamInterpolation" radius="0.1"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="50"/>
<!--
<Node name="Collision">
<CubeTopology nx="13" ny="2" nz="2" min="0 -0.2 -0.2" max="3 0.2 0.2" />
<MechanicalObject name="collision"/>
<AdaptiveBeamMapping isMechanical="true" input="@../DOFs" output="@collision"/>
<Triangle />
</Node>
-->
</Node>
<Node name="AdaptiveBeam2">
<EulerImplicitSolver rayleighStiffness="0" rayleighMass="0" printLog="false" />
<EigenSparseLU template="CompressedRowSparseMatrixMat3x3d"/>
<MeshTopology name="lines" lines="0 1 1 2 2 3" />
<MechanicalObject template="Rigid3d" name="DOFs" position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1"/>
<BeamInterpolation name="BeamInterpolation2" radius="0.1" />
<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
<AdaptiveBeamController template="Rigid3d" name="m_controller"/>
<AdaptiveBeamForceFieldAndMass name="BeamForceField" computeMass="1" massDensity="50"/>
<!--
<Node name="Collision">
<CubeTopology nx="13" ny="2" nz="2" min="0 -0.2 -0.2" max="3 0.2 0.2" />
<MechanicalObject name="collision"/>
<AdaptiveBeamMapping isMechanical="true" input="@../DOFs" output="@collision"/>
<Triangle />
</Node>
-->
</Node>
</Node>
def createScene(root_node):
root = root_node.addChild('root', gravity="0 -9.81 0", dt="0.01", bbox="0 0 0 10 10 10")
root.addObject('RequiredPlugin', name="Sofa.Component.Constraint.Projective")
root.addObject('RequiredPlugin', name="Sofa.Component.LinearSolver.Direct")
root.addObject('RequiredPlugin', name="Sofa.Component.ODESolver.Backward")
root.addObject('RequiredPlugin', name="Sofa.Component.StateContainer")
root.addObject('RequiredPlugin', name="Sofa.Component.Topology.Container.Constant")
root.addObject('RequiredPlugin', name="Sofa.Component.Visual")
root.addObject('RequiredPlugin', name="BeamAdapter")
root.addObject('VisualStyle', displayFlags="showBehaviorModels showCollisionModels hideBoundingCollisionModels showForceFields")
root.addObject('DefaultAnimationLoop', )
adaptive_beam1 = root.addChild('AdaptiveBeam1')
adaptive_beam1.addObject('EulerImplicitSolver', rayleighStiffness="0", rayleighMass="0", printLog="false")
adaptive_beam1.addObject('EigenSparseLU', template="CompressedRowSparseMatrixMat3x3d")
adaptive_beam1.addObject('MechanicalObject', template="Rigid3d", name="DOFs", position="0 0 0 0 0 0 1 0.5 0 0 0 0 0 1 1 0 0 0 0 0 1 1.5 0 0 0 0 0 1 2 0 0 0 0 0 1 2.5 0 0 0 0 0 1 3 0 0 0 0 0 1")
adaptive_beam1.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3 3 4 4 5 5 6")
adaptive_beam1.addObject('FixedProjectiveConstraint', name="FixedConstraint", indices="0")
adaptive_beam1.addObject('BeamInterpolation', name="BeamInterpolation", radius="0.1")
adaptive_beam1.addObject('AdaptiveBeamForceFieldAndMass', name="BeamForceField", computeMass="1", massDensity="50")
adaptive_beam2 = root.addChild('AdaptiveBeam2')
adaptive_beam2.addObject('EulerImplicitSolver', rayleighStiffness="0", rayleighMass="0", printLog="false")
adaptive_beam2.addObject('EigenSparseLU', template="CompressedRowSparseMatrixMat3x3d")
adaptive_beam2.addObject('MeshTopology', name="lines", lines="0 1 1 2 2 3")
adaptive_beam2.addObject('MechanicalObject', template="Rigid3d", name="DOFs", position="0 0 2 0 0 0 1 1 0 2 0 0 0 1 2 0 2 0 0 0 1 3 0 2 0 0 0 1")
adaptive_beam2.addObject('BeamInterpolation', name="BeamInterpolation2", radius="0.1")
adaptive_beam2.addObject('FixedProjectiveConstraint', name="FixedConstraint", indices="0")
adaptive_beam2.addObject('AdaptiveBeamController', template="Rigid3d", name="m_controller")
adaptive_beam2.addObject('AdaptiveBeamForceFieldAndMass', name="BeamForceField", computeMass="1", massDensity="50")