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[Beam] Fix on SofaBeamAdapter orientation and remove some warnings in scenes due to SOFA changes (#210)
* [scenes] Fix FixConstraint alias warning * Backup fix on SofaBeamAdapter orientation * backup camera texture prefab
1 parent 1dd375e commit 6204d18

9 files changed

Lines changed: 27 additions & 26 deletions

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‎Core/Resources/Textures/Camera_texture.renderTexture‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -10,10 +10,8 @@ RenderTexture:
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m_ImageContentsHash:
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serializedVersion: 2
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Hash: 00000000000000000000000000000000
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m_ForcedFallbackFormat: 4
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m_DownscaleFallback: 0
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m_IsAlphaChannelOptional: 0
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serializedVersion: 5
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serializedVersion: 6
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m_Width: 1024
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m_Height: 1024
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m_AntiAliasing: 1
@@ -24,6 +22,7 @@ RenderTexture:
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m_GenerateMips: 1
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m_SRGB: 0
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m_UseDynamicScale: 0
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m_UseDynamicScaleExplicit: 0
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m_BindMS: 0
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m_EnableCompatibleFormat: 1
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m_EnableRandomWrite: 0

‎Core/Scripts/Modules/Components/SofaBeamAdapterModel.cs‎

Lines changed: 6 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -96,7 +96,7 @@ protected override void UpdateBeamMesh()
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// update position vectors for camera
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Vector3 sofaScale = m_sofaMesh.m_sofaContext.GetScaleSofaToUnity();
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m_tipPosition[0] = m_vertCenter[0][0] * sofaScale[0] + this.transform.position[0];
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m_tipPosition[1] = m_vertCenter[0][1] * sofaScale[1] + this.transform.position[1];
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m_tipPosition[2] = m_vertCenter[0][2] * sofaScale[2] + this.transform.position[2];
@@ -141,9 +141,11 @@ void UpdateCamera()
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if (m_childCameraScript == null)
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return;
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m_childCameraScript.transform.position = m_tipPosition;
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m_childCameraScript.transform.forward = m_tipDirection;
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Vector3 localPos = m_sofaMesh.m_sofaContext.transform.TransformPoint(m_vertCenter[0]);
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Vector3 localPosN = m_sofaMesh.m_sofaContext.transform.TransformPoint(m_vertCenter[1]);
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m_childCameraScript.transform.position = localPos;// m_sofaMesh.m_sofaContext.transform.TransformPoint(m_tipPosition);
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m_childCameraScript.transform.forward = (localPos - localPosN);
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}
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‎Scenes/Demos/Endoscopy/BeamAdapter/SofaScenes/BeamTexture.scn‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -58,7 +58,7 @@
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startingPos="0 0 0 0 -0.7071068 0 0.7071068" xtip="0 0 0"
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step="0.5" speed="0.0"
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listening="1" controlledInstrument="0"/>
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<FixedConstraint name="FixedConstraint" indices="0" />
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<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
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<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e20" stiffness="1e20"/>
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<LinearSolverConstraintCorrection wire_optimization="true" />
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‎Scenes/Demos/Endoscopy/BeamAdapter/SofaScenes/KV1-Catheter.scn‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -65,7 +65,7 @@
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/>
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<LinearSolverConstraintCorrection printLog="0" wire_optimization="true"/>
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<FixedConstraint name="FixStart1" indices="0" />
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<FixedProjectiveConstraint name="FixStart1" indices="0" />
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<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
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<!-- COLLISION

‎Scenes/Demos/Endoscopy/BeamAdapter/SofaScenes/Ureteroscopy_demo.scn‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -57,7 +57,7 @@
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speed="0.0" startingPos="3 3 -4 0.4689105 0.5470623 0 0.6934305" step="0.1" template="Rigid3d" xtip="0.1" />
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<LinearSolverConstraintCorrection wire_optimization="true"/>
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<FixedConstraint name="FixStart1" indices="0" />
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<FixedProjectiveConstraint name="FixStart1" indices="0" />
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<RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
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<!-- COLLISION -->

‎Scenes/Demos/Endoscopy/Virtual Capsule Endoscopy/Scenes/SofaScenes/Capsule_narrow_intestin_simulation.scn‎

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Original file line numberDiff line numberDiff line change
@@ -47,16 +47,16 @@
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<BoxROI name="FixedROI_1" box="-4.1 9.4 1.9 -3.7 11.6 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<FixedProjectiveConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<BoxROI name="FixedROI_2" box="-4.1 9.4 1.9 -1.9 11.6 2.3" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<FixedProjectiveConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<BoxROI name="FixedROI_3" box="-4.1 11.2 1.9 -1.9 11.6 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<FixedProjectiveConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<BoxROI name="FixedROI_4" box="-4.1 9.6 1.9 -1.9 10 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<FixedProjectiveConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<DiagonalMass totalMass="0.1" />

‎Scenes/Demos/Endoscopy/Virtual Capsule Endoscopy/Scenes/SofaScenes/Capsule_narrow_intestin_simulation_constraint.scn‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -28,16 +28,16 @@
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<BoxROI name="FixedROI_1" box="-4.1 9.4 1.9 -3.7 11.6 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<FixedProjectiveConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<BoxROI name="FixedROI_2" box="-4.1 9.4 1.9 -1.9 11.6 2.3" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<FixedProjectiveConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<BoxROI name="FixedROI_3" box="-4.1 11.2 1.9 -1.9 11.6 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<FixedProjectiveConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<BoxROI name="FixedROI_4" box="-4.1 9.6 1.9 -1.9 10 4.1" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<FixedProjectiveConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<DiagonalMass totalMass="0.1" />
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<TetrahedralCorotationalFEMForceField name="FEM" youngModulus="60" poissonRatio="0.3" method="large" />

‎Scenes/Demos/Endoscopy/Virtual Capsule Endoscopy/Scenes/SofaScenes/Capsule_simulation.scn‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -24,16 +24,16 @@
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<BoxROI name="FixedROI_1" box="-1 7 2 -7 8.5 5" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<FixedProjectiveConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<BoxROI name="FixedROI_2" box="-1 8 -4 -7 9.2 2" drawBoxes="1" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<FixedProjectiveConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<BoxROI name="FixedROI_3" box="-1 11 -4 -7 12 0.5" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<FixedProjectiveConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<BoxROI name="FixedROI_4" box="-4.5 11 -1 -7 12 2" drawBoxes="0" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<FixedProjectiveConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<DiagonalMass totalMass="0.1" />
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<TetrahedralCorotationalFEMForceField name="FEM" youngModulus="100" poissonRatio="0.3" method="large" />

‎Scenes/Demos/Endoscopy/Virtual Capsule Endoscopy/Scenes/SofaScenes/Capsule_simulation_constraint.scn‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,16 +23,16 @@
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<HexahedronFEMForceField name="FEM" youngModulus="100.0" poissonRatio="0.3" method="large" printLog="0" />
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<BoxROI name="FixedROI_1" box="-1 7 2 -7 8.5 5" drawBoxes="1" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<FixedProjectiveConstraint name="ROI1" indices="@FixedROI_1.indices" />
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<BoxROI name="FixedROI_2" box="-1 8 -4 -7 9 0" drawBoxes="1" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<FixedProjectiveConstraint name="ROI2" indices="@FixedROI_2.indices" />
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<BoxROI name="FixedROI_3" box="-1 11 -4 -7 12 0.5" drawBoxes="1" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<FixedProjectiveConstraint name="ROI3" indices="@FixedROI_3.indices" />
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<BoxROI name="FixedROI_4" box="-4.5 11 -1 -7 12 2" drawBoxes="1" position="@dofs.rest_position"/>
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<FixedConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<FixedProjectiveConstraint name="ROI4" indices="@FixedROI_4.indices" />
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<UncoupledConstraintCorrection />
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