diff --git a/examples/3instruments.scn b/examples/3instruments.scn index 755c085ec..e1030a6e9 100644 --- a/examples/3instruments.scn +++ b/examples/3instruments.scn @@ -19,11 +19,11 @@ - + - - + + @@ -33,8 +33,8 @@ - - + + @@ -44,8 +44,8 @@ - - + + @@ -60,7 +60,7 @@ - + - - + + @@ -49,8 +49,8 @@ - - + + @@ -60,8 +60,8 @@ - - + + @@ -142,14 +142,21 @@ - - - - - - - - + + + + + + + + + + + + + + + diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn index d84ea4732..3957063b1 100644 --- a/examples/SingleBeamDeployment.scn +++ b/examples/SingleBeamDeployment.scn @@ -15,8 +15,8 @@ - - + + @@ -36,7 +36,7 @@ diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn index f8afde1da..b169a8b8a 100644 --- a/examples/SingleBeamDeploymentCollision.scn +++ b/examples/SingleBeamDeploymentCollision.scn @@ -32,8 +32,8 @@ - - + + @@ -54,7 +54,7 @@ diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn index 1b09e0984..f8a9a2005 100644 --- a/examples/Tool_from_loader.scn +++ b/examples/Tool_from_loader.scn @@ -25,8 +25,8 @@ - - + + @@ -39,7 +39,7 @@ - diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py index daf321da4..246ae7e7d 100644 --- a/examples/python3/SingleBeamDeployment.py +++ b/examples/python3/SingleBeamDeployment.py @@ -12,14 +12,14 @@ def createScene(rootNode): topoLines = rootNode.addChild('EdgeTopology') topoLines.addObject('RodStraightSection', name='StraightSection', length=980.0, radius=0.9, - nbEdgesCollis=30, nbEdgesVisu=196, - youngModulus=20000) + nbBeams=30, nbEdgesCollis=30, nbEdgesVisu=196, + youngModulus=20000, massDensity=0.00000155) topoLines.addObject('RodSpireSection', name='SpireSection', length=20.0, radius=0.9, - nbEdgesCollis=5, nbEdgesVisu=4, + nbBeams=5, 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") @@ -34,14 +34,14 @@ def createScene(rootNode): BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, printLog=False, rayleighMass=0.1) BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False) BeamMechanics.addObject('RegularGridTopology', name='MeshLines', drawEdges=True, - nx=60, ny=1, nz=1, + nx=61, ny=1, nz=1, xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0, p0=[0,0,0]) BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs Container', template='Rigid3d', ry=-90) BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False) BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation') BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', - startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True, + topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True, rotationInstrument=[0, 0, 0], step=0.5, speed=0.5, listening=True, controlledInstrument=0) BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint') diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py index 79c532aea..97ea7c2fe 100644 --- a/examples/python3/SingleBeamDeploymentCollision.py +++ b/examples/python3/SingleBeamDeploymentCollision.py @@ -20,14 +20,14 @@ def createScene(rootNode): topoLines = rootNode.addChild('EdgeTopology') topoLines.addObject('RodStraightSection', name='StraightSection', length=980.0, radius=0.9, - nbEdgesCollis=50, nbEdgesVisu=200, - youngModulus=20000, massDensity=0.1, poissonRatio=0.3) + nbBeams=50, nbEdgesCollis=50, nbEdgesVisu=200, + youngModulus=20000, massDensity=0.00000155, poissonRatio=0.3) topoLines.addObject('RodSpireSection', name='SpireSection', length=20.0, radius=0.9, - nbEdgesCollis=10, nbEdgesVisu=200, + nbBeams=10, 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") @@ -42,14 +42,14 @@ def createScene(rootNode): BeamMechanics.addObject('EulerImplicitSolver', rayleighStiffness=0.2, rayleighMass=0.1) BeamMechanics.addObject('BTDLinearSolver', verification=False, subpartSolve=False, verbose=False) BeamMechanics.addObject('RegularGridTopology', name='MeshLines', - nx=60, ny=1, nz=1, + nx=61, ny=1, nz=1, xmax=0.0, xmin=0.0, ymin=0, ymax=0, zmax=0, zmin=0, p0=[0,0,0]) BeamMechanics.addObject('MechanicalObject', showIndices=False, name='DOFs', template='Rigid3d', ry=-90) BeamMechanics.addObject('WireBeamInterpolation', name='BeamInterpolation', WireRestShape='@../EdgeTopology/BeamRestShape', printLog=False) BeamMechanics.addObject('AdaptiveBeamForceFieldAndMass', name='BeamForceField', massDensity=0.00000155, interpolation='@BeamInterpolation') BeamMechanics.addObject('InterventionalRadiologyController', name='DeployController', template='Rigid3d', instruments='BeamInterpolation', - startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True, + topology="@MeshLines", startingPos=[0, 0, 0, 0, 0, 0, 1], xtip=[0, 0, 0], printLog=True, rotationInstrument=[0, 0, 0], step=5., speed=5., listening=True, controlledInstrument=0) BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)