fix warnings, behavior in scenes

Author: fredroy

examples/3instruments_collis.scn

@@ -35,7 +35,7 @@
 	<LocalMinDistance name="localmindistance" alarmDistance="2" contactDistance="1" angleCone="0.5" coneFactor="0.5" />
 	<CollisionResponse name="Response" response="FrictionContactConstraint" />
 
-<!-- ------------------------- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  ------------------------------ -->
+<!-- INTERVENTIONAL RADIOLOGY INSTRUMENTS (catheter, guidewire, coil)  -->
 
 	<Node name="topoLines_cath">
         <RodStraightSection name="StraightSection" youngModulus="10000" massDensity="0.00000155" radius="1" nbEdgesCollis="40" nbEdgesVisu="220" length="600.0"/><!--stiff silicone E = 10000 MPa // 1550 Kg/m3-->	
@@ -142,14 +142,21 @@
 		</Node>   
 	</Node>
 
-	<Node name="CollisionModel"> 
-		<MeshOBJLoader name="meshLoader" filename="mesh/phantom.obj" triangulate="true" flipNormals="1"/>
-		<MeshTopology position="@meshLoader.position"  triangles="@meshLoader.triangles"/>
-		<MechanicalObject name="DOFs1" position="0 0 400" scale="3" ry="90"/>	
-		<TriangleCollisionModel simulated="0" moving="0"/>	
-		<LineCollisionModel simulated="0" moving="0"/>
-		<PointCollisionModel simulated="0" moving="0"/>
-		<OglModel name="Visual" src="@meshLoader" color="1 0 0 0.3" scale="3" ry="90"/>
+	<Node name="VesselsPhantom">
+		<MeshOBJLoader name="meshLoader" filename="mesh/phantom.obj" triangulate="true" flipNormals="1" scale="3" rotation="0 90 0"/>
+
+		<Node name="Collision"> 
+			<MeshTopology position="@../meshLoader.position"  triangles="@meshLoader.triangles"/>
+			<MechanicalObject name="DOFs1"/>	
+			<TriangleCollisionModel simulated="0" moving="0"/>	
+			<LineCollisionModel simulated="0" moving="0"/>
+			<PointCollisionModel simulated="0" moving="0"/>
+		</Node>
+
+		<Node name="Visual">
+			<OglModel name="Visual" src="@../meshLoader" color="1 0 0 0.3" />
+		</Node> 
+
 	</Node>
 
 </Node>

examples/Tool_from_loader.scn

@@ -25,8 +25,8 @@
     <Node name="GuideCatheter">
         <MeshOBJLoader name="loader" filename="mesh/key_tip.obj" />
 
-        <RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" radius="0.05" massDensity="0.1" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
-        <RodMeshSection name="MeshTipSection" loader="@loader" nbEdgesCollis="300" nbEdgesVisu="300"  radius="0.05" massDensity="0.1"  youngModulus="1000000" poissonRatio="0.3"/>
+        <RodStraightSection name="StraightSection" youngModulus="1000000" poissonRatio="0.3" massDensity="0.00000155" radius="0.05" nbEdgesCollis="30" nbEdgesVisu="200" length="980.0"/>
+        <RodMeshSection name="MeshTipSection" loader="@loader" youngModulus="1000000" poissonRatio="0.3" massDensity="0.00000155" radius="0.05" nbEdgesCollis="300" nbEdgesVisu="300" />
 
         <WireRestShape template="Rigid3d" name="GC_RestShape" printLog="false" wireMaterials="@StraightSection @MeshTipSection" />
 

examples/python3/SingleBeamDeployment.py

@@ -13,13 +13,13 @@ def createScene(rootNode):
     topoLines.addObject('RodStraightSection', name='StraightSection', 
                                  length=980.0, radius=0.9, 
                                  nbEdgesCollis=30, nbEdgesVisu=196, 
-                                 youngModulus=20000)
+                                 youngModulus=20000, massDensity=0.00000155)
 
     topoLines.addObject('RodSpireSection', name='SpireSection', 
                                  length=20.0, radius=0.9, 
                                  nbEdgesCollis=5, nbEdgesVisu=4,
                                  spireDiameter=25, spireHeight=0,
-                                 youngModulus=20000)
+                                 youngModulus=20000, massDensity=0.00000155)
     topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
                                  wireMaterials="@StraightSection @SpireSection")
 

examples/python3/SingleBeamDeploymentCollision.py

@@ -21,13 +21,13 @@ def createScene(rootNode):
     topoLines.addObject('RodStraightSection', name='StraightSection', 
                                  length=980.0, radius=0.9, 
                                  nbEdgesCollis=50, nbEdgesVisu=200, 
-                                 youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
+                                 youngModulus=20000, massDensity=0.00000155, poissonRatio=0.3)
 
     topoLines.addObject('RodSpireSection', name='SpireSection', 
                                  length=20.0, radius=0.9, 
                                  nbEdgesCollis=10, nbEdgesVisu=200,
                                  spireDiameter=25, spireHeight=0,
-                                 youngModulus=20000, massDensity=0.1, poissonRatio=0.3)
+                                 youngModulus=20000, massDensity=0.00000155, poissonRatio=0.3)
     topoLines.addObject('WireRestShape', name='BeamRestShape', template="Rigid3d",
                                  wireMaterials="@StraightSection @SpireSection")