Update src/BeamAdapter/component/controller/InterventionalRadiologyController.inl

fredroy · hugtalbot · web-flow · commit 4157fd8921dd · 2025-09-26T09:12:36.000+09:00
Co-authored-by: Hugo &lt;hugo.talbot@sofa-framework.org&gt;
diff --git a/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl b/src/BeamAdapter/component/controller/InterventionalRadiologyController.inl
@@ -1127,6 +1127,8 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign
     for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)
     {
         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);

Original file line number	Diff line number	Diff line change
`@@ -1127,6 +1127,8 @@ void InterventionalRadiologyController<DataTypes>::fixFirstNodesWithUntil(unsign`
`1127`	`1127`	`for(unsigned int i=0; i<firstSimulatedNode-1 ; i++)`
`1128`	`1128`	`{`
`1129`	`1129`	`xMstate[i] = startPos;`
	`1130`	`+ // Overwriting the rest position avoids a jump of released DoFs, trying to reach their rest position when released`
	`1131`	`+ // This remains safe since BeamFEMForceField uses the interpolation object to compute transformation without using the rest shape`
`1130`	`1132`	`xrestMstate[i] = startPos;`
`1131`	`1133`	`vMstate[i].clear();`
`1132`	`1134`	`l_fixedConstraint->addConstraint(i);`