From 9f81513cdcfb09886cefb95839e6d54269458c2c Mon Sep 17 00:00:00 2001 From: Frederick Roy <froy@lnrobo.com> Date: Thu, 28 Dec 2023 15:40:53 +0900 Subject: [PATCH] dont use intermediary mecha anymore. --- examples/3instruments_collis.scn | 25 ++++++------------------- 1 file changed, 6 insertions(+), 19 deletions(-) diff --git a/examples/3instruments_collis.scn b/examples/3instruments_collis.scn index 0b37c8b56..7f77f8fb1 100644 --- a/examples/3instruments_collis.scn +++ b/examples/3instruments_collis.scn @@ -114,44 +114,31 @@ </Node> <Node name="VisuCatheter" activated="true"> - <MechanicalObject name="Quads" /> + <OglModel name="Visual" color="0.7 0.7 0.7" quads="@../ContainerCath.quads" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20"/> <QuadSetTopologyContainer name="ContainerCath" /> <QuadSetTopologyModifier name="Modifier" /> <QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" /> <Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="2" input="@../../topoLines_cath/meshLinesCath" output="@ContainerCath" flipNormals="true"/> - <AdaptiveBeamMapping name="VisuMapCath" useCurvAbs="1" printLog="0" interpolation="@../InterpolCatheter" input="@../DOFs" output="@Quads" isMechanical="false" /> - - <Node name="VisuOgl" activated="true"> - <OglModel name="Visual" color="0.7 0.7 0.7" quads="@../ContainerCath.quads" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20"/> - <IdentityMapping input="@../Quads" output="@Visual"/> - </Node> + <AdaptiveBeamMapping name="VisuMapCath" useCurvAbs="1" printLog="0" interpolation="@../InterpolCatheter" input="@../DOFs" output="@Visual" /> </Node> <Node name="VisuGuide" activated="true"> - <MechanicalObject name="Quads" /> + <OglModel name="Visual" color="0.2 0.2 0.8" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerGuide.quads"/> <QuadSetTopologyContainer name="ContainerGuide" /> <QuadSetTopologyModifier name="Modifier" /> <QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" /> <Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="1" input="@../../topoLines_guide/meshLinesGuide" output="@ContainerGuide" flipNormals="true" listening="true"/> - <AdaptiveBeamMapping name="visuMapGuide" useCurvAbs="1" printLog="0" interpolation="@../InterpolGuide" input="@../DOFs" output="@Quads" isMechanical="false" /> - <Node name="VisuOgl"> - <OglModel name="Visual" color="0.2 0.2 0.8" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerGuide.quads"/> - <IdentityMapping input="@../Quads" output="@Visual"/> - </Node> + <AdaptiveBeamMapping name="visuMapGuide" useCurvAbs="1" printLog="0" interpolation="@../InterpolGuide" input="@../DOFs" output="@Visual" /> </Node> <Node name="VisuCoils" activated="true"> - <MechanicalObject name="Quads"/> + <OglModel name="Visual" color="0.2 0.8 0.2" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerCoils.quads"/> <QuadSetTopologyContainer name="ContainerCoils" /> <QuadSetTopologyModifier name="Modifier" /> <QuadSetGeometryAlgorithms name="GeomAlgo" template="Vec3d" /> <Edge2QuadTopologicalMapping nbPointsOnEachCircle="10" radius="0.3" input="@../../topoLines_coils/meshLinesCoils" output="@ContainerCoils" flipNormals="true" listening="true" /> - <AdaptiveBeamMapping name="visuMapCoils" useCurvAbs="1" printLog="0" interpolation="@../InterpolCoils" input="@../DOFs" output="@Quads" isMechanical="false" /> - <Node name="VisuOgl"> - <OglModel name="Visual" color="0.2 0.8 0.2" material="texture Ambient 1 0.2 0.2 0.2 0.0 Diffuse 1 1.0 1.0 1.0 1.0 Specular 1 1.0 1.0 1.0 1.0 Emissive 0 0.15 0.05 0.05 0.0 Shininess 1 20" quads="@../ContainerCoils.quads"/> - <IdentityMapping input="@../Quads" output="@Visual"/> - </Node> + <AdaptiveBeamMapping name="visuMapCoils" useCurvAbs="1" printLog="0" interpolation="@../InterpolCoils" input="@../DOFs" output="@Visual" /> </Node> </Node>