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sofa-framework · Dec 10, 2024 · 8c14a01 · 8c14a01
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commit 8c14a01
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Showing 9 changed files with 10 additions and 10 deletions.
diff --git a/examples/3instruments.scn b/examples/3instruments.scn
@@ -85,7 +85,7 @@
             controlledInstrument='0' startingPos='0 0 0 0 -0.7071068 0 0.7071068' speed='2' instruments='InterpolCatheter InterpolGuide InterpolCoils' />
 
 		<FixedProjectiveConstraint name='FixedConstraint' indices='0' />
-        <RestShapeSpringsForceField  points='@IRController.indexFirstNode' stiffness='1e8' angularStiffness='1e8'   />
+        <RestShapeSpringsForceField  indices='@IRController.indexFirstNode' stiffness='1e8' angularStiffness='1e8'   />
 
 		<Node name='VisuCatheter' activated='true'>
 			<MechanicalObject name='Quads' />

diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn
@@ -102,7 +102,7 @@
 		<LinearSolverConstraintCorrection printLog="false" wire_optimization="true"/>
 
 		<FixedProjectiveConstraint name="FixedConstraint" indices="0" />
-        <RestShapeSpringsForceField  points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8"   />
+        <RestShapeSpringsForceField  indices="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8"   />
 
 		<Node name="Collis" activated="true">
 				<EdgeSetTopologyContainer name="collisEdgeSet" />

diff --git a/examples/SingleBeamDeployment.scn b/examples/SingleBeamDeployment.scn
@@ -40,7 +40,7 @@
                                     rotationInstrument="0 0 0" step="0.5" speed="0.5" 
                                     listening="1" controlledInstrument="0"/>
         <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
-        <RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/> 
+        <RestShapeSpringsForceField name="RestSPForceField" indices="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
     </Node>  
 
 </Node>

diff --git a/examples/SingleBeamDeploymentCollision.scn b/examples/SingleBeamDeploymentCollision.scn
@@ -59,7 +59,7 @@
                                     listening="1" controlledInstrument="0"/>
         <LinearSolverConstraintCorrection wire_optimization="true" printLog="0" />
         <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
-        <RestShapeSpringsForceField name="RestSPForceField" points="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/> 
+        <RestShapeSpringsForceField name="RestSPForceField" indices="@DeployController.indexFirstNode" angularStiffness="1e8" stiffness="1e8"/>
 
         <Node name="CollisionModel">
             <EdgeSetTopologyContainer name="collisEdgeSet" />

diff --git a/examples/Tool_from_loader.scn b/examples/Tool_from_loader.scn
@@ -56,7 +56,7 @@
         />
 
         <FixedProjectiveConstraint name="FixedConstraint" indices="0" />
-        <RestShapeSpringsForceField  points="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />
+        <RestShapeSpringsForceField  indices="@IRController.indexFirstNode" stiffness="1e8" angularStiffness="1e8" />
 
         <Node name='VisuGuideCatheter'>
             <MechanicalObject name='dof_visual_GC' />

diff --git a/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py b/examples/python3/Cochlear-Implant-Insertion/Scene_Cochlea.py
@@ -60,7 +60,7 @@ def createScene(rootNode):
         InstrumentCombined.addObject('AdaptiveBeamForceFieldAndMass', name="CatheterForceField", massDensity="0.000005", interpolation="@InterpolCatheter", printLog=False)
         InstrumentCombined.addObject('LinearSolverConstraintCorrection', printLog=False, wire_optimization="true")
         InstrumentCombined.addObject("FixedProjectiveConstraint", indices="0")
-        InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF", points="@m_ircontroller.indexFirstNode",  stiffness="1e10", recompute_indices="1", angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos", external_points="0", drawSpring="1", springColor="1 0 0 1")
+        InstrumentCombined.addObject('RestShapeSpringsForceField', name="MeasurementFF", indices="@m_ircontroller.indexFirstNode",  stiffness="1e10", recompute_indices="1", angularStiffness="1e10", external_rest_shape="@../RefStartingPos/ReferencePos", externalIndices="0", drawSpring="1", springColor="1 0 0 1")
 
         CollisInstrumentCombined = InstrumentCombined.addChild('CollisInstrumentCombined')
         CollisInstrumentCombined.addObject('EdgeSetTopologyContainer', name="collisEdgeSet")

diff --git a/examples/python3/SingleBeamDeployment.py b/examples/python3/SingleBeamDeployment.py
@@ -45,7 +45,7 @@ def createScene(rootNode):
                                     rotationInstrument=[0, 0, 0], step=0.5, speed=0.5, 
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
-    BeamMechanics.addObject('RestShapeSpringsForceField', name="RestSPForceField", points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
+    BeamMechanics.addObject('RestShapeSpringsForceField', name="RestSPForceField", indices='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
 
 
 def main():

diff --git a/examples/python3/SingleBeamDeploymentCollision.py b/examples/python3/SingleBeamDeploymentCollision.py
@@ -54,7 +54,7 @@ def createScene(rootNode):
                                     listening=True, controlledInstrument=0)
     BeamMechanics.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
     BeamMechanics.addObject('FixedProjectiveConstraint', indices=0, name='FixedConstraint')
-    BeamMechanics.addObject('RestShapeSpringsForceField', points='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
+    BeamMechanics.addObject('RestShapeSpringsForceField', indices='@DeployController.indexFirstNode', angularStiffness=1e8, stiffness=1e8)
 
 
     BeamCollis = BeamMechanics.addChild('CollisionModel')

diff --git a/examples/python3/beamadapter/parts/instrument.py b/examples/python3/beamadapter/parts/instrument.py
@@ -53,7 +53,7 @@ def combineInstruments(node, xtip=[1, 0, 0], instruments=['guide'],
                                     controlledInstrument=controlledInstrument)
     InstrumentCombined.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
     InstrumentCombined.addObject('FixedConstraint', indices=0, name='FixedConstraint')
-    InstrumentCombined.addObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode', 
+    InstrumentCombined.addObject('RestShapeSpringsForceField', indices='@m_ircontroller.indexFirstNode',
                                     angularStiffness=1e8, stiffness=1e8)
 
     return (InstrumentCombined)
@@ -90,7 +90,7 @@ def createInstrumentsCombined(node, xtip=[1, 0, 0], instruments=['guide'],
                                     controlledInstrument=controlledInstrument)
     InstrumentCombined.addObject('LinearSolverConstraintCorrection', wire_optimization='true', printLog=False)
     InstrumentCombined.addObject('FixedConstraint', indices=0, name='FixedConstraint')
-    InstrumentCombined.addObject('RestShapeSpringsForceField', points='@m_ircontroller.indexFirstNode', 
+    InstrumentCombined.addObject('RestShapeSpringsForceField', indices='@m_ircontroller.indexFirstNode',
                                     angularStiffness=1e8, stiffness=1e8)
 
     # Collision model